论文标题
CMPCC：基于走廊的模型预测性轮廓控制，用于激进无人机飞行
CMPCC: Corridor-based Model Predictive Contouring Control for Aggressive Drone Flight
论文作者
论文摘要
在本文中，我们提出了一个有效的，后退的地平线，本地自适应的低级规划师，作为我们原始计划者和控制器之间的中间层。我们的方法被称为基于走廊的模型预测性轮廓控制（CMPCC），因为它基于MPCC并利用飞行走廊作为硬安全性约束。它同时优化了飞行的攻击性和跟踪准确性，从而通过克服未衡量的干扰来改善系统的鲁棒性。我们的方法以其在线飞行速度优化，严格的安全性和可行性以及实时性能为特色，并将作为低级插件发布，用于各种四极管系统。
In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as corridor-based model predictive contouring control (CMPCC) since it builds upon on MPCC and utilizes the flight corridor as hard safety constraints. It optimizes the flight aggressiveness and tracking accuracy simultaneously, thus improving our system's robustness by overcoming unmeasured disturbances. Our method features its online flight speed optimization, strict safety and feasibility, and real-time performance, and will be released as a low-level plugin for a large variety of quadrotor systems.
