触手を模した経路選択およびバックステッピングMPCを用いたクワッドコプタのための障害物回避の実装

抄録

Path planning is important for fully autonomous flight by a UAV. Since facility inspections using UAVs require flight in narrow spaces, we need to plan the path that can move in all directions to escape from dead end. Path planning in all directions inevitably increases the computational cost. Since UAVs cannot change their speed rapidly, it is desirable to be able to consider the effect of speed when selecting a path. We adopt a method of pre-computing a group of paths using the Lemason’s equation, because the method can take both direction of the UAV and its speed into consideration. We use BS-MPC for path following, which has both computational efficiency and high control performance. We report the investigation that these can be used to fly at what kind of environment.