安全かつ最適な飛行を目指して: 完全駆動マルチロータのための生存可能カーネルMPC
Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor
完全駆動マルチロータの安全な姿勢軌道生成を、生存可能性理論とデータ駆動手法を組み合わせたMPCフレームワークで実現し、障害物回避を動的バウンディングボックスで保証する手法を提案した。シミュレーションで実時間性能と安全性を検証した。
著者: Massimiliano Bertoni, Alberto Piccina, Gianni Lunardi, Elias Fontanari, Andrea Del Prete, Angelo Cenedese, Giulia Michieletto
分類: cs.RO, eess.SY
原文アブストラクト
Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods. Obstacle avoidance is enforced through dynamically computed axis-aligned bounding boxes, providing formal safety guarantees without exhaustive offline reachability analysis. Numerical simulations on a fully actuated tilted hexarotor validate the approach, demonstrating successful navigation in cluttered environments with real-time computational performance.