閉鎖空間点検のための幾何学的視線角整形戦略
Geometric Look-Angle Shaping Strategy for Enclosed Inspection
無人航空機による閉鎖空間の点検飛行のため、視線角を双曲線正接型の整形関数で制御する新しい誘導則を提案し、安定性解析と6自由度シミュレーションで有効性を示した論文。
著者: Amit Shivam, Manuel C. R. M. Fernandes, Sergio Vinha, Fernando A. C. C. Fontes
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent shaping of the look angle relative to a desired standoff path. By embedding a smooth, hyperbolic-tangent-type shaping function within a polar geometric framework, GLASS ensures global existence of the guidance dynamics. It avoids the far-field limitations inherent to conventional formulations. Lyapunov stability analysis establishes asymptotic convergence to a prescribed inspection standoff under explicit curvature feasibility conditions, along with analytical settling-time characteristics. The proposed strategy incorporates maximum turn-rate constraints without inducing singularities throughout the workspace. High-fidelity six-degree-of-freedom quadrotor simulations demonstrate the effectiveness of GLASS in representative enclosed inspection scenarios, highlighting a practically viable guidance framework for autonomous enclosed inspection missions.