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Computing the Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects


Kim, Suseong; Falanga, Davide; Scaramuzza, Davide (2019). Computing the Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects. IEEE Robotics and Automation Letters, 3(4):2934-2941.

Abstract

Collision avoidance plays a crucial role in safe multirotor flight in cluttered environments. Even though a given reference trajectory is designed to be collision free, it might lead to collision due to imperfect tracking caused by external disturbances. In this work, we tackle this problem by computing the Forward Reachable Set (FRS), which is the set of positions and velocities that a multirotor can reach while following a reference trajectory due to tracking errors. Hence, if the FRS is computed before flight, we can utilize it to check the safety of a given trajectory in terms of collision avoidance. To compute a realistic FRS that covers an agile flight envelope, we consider first-order aerodynamic effects, which have the most salient influence on the vehicle. For computing FRS, we conduct a thorought stability analysis including these aerodynamic effects. Then, we present a FRS computation method which can easily be adapted to newly given reference trajectories. The presented method is validated by comparing the FRS with real flight data collected during agile and high-speed flight. In addition, we compare the FRS computed with and without compensating for firstorder aerodynamic effect to highlight their significance on the trajectory tracking performance. To the best of our knowledge, this is the first attempt to compute FRSs by incorporating firstorder aerodynamic effects for multirotors.

Abstract

Collision avoidance plays a crucial role in safe multirotor flight in cluttered environments. Even though a given reference trajectory is designed to be collision free, it might lead to collision due to imperfect tracking caused by external disturbances. In this work, we tackle this problem by computing the Forward Reachable Set (FRS), which is the set of positions and velocities that a multirotor can reach while following a reference trajectory due to tracking errors. Hence, if the FRS is computed before flight, we can utilize it to check the safety of a given trajectory in terms of collision avoidance. To compute a realistic FRS that covers an agile flight envelope, we consider first-order aerodynamic effects, which have the most salient influence on the vehicle. For computing FRS, we conduct a thorought stability analysis including these aerodynamic effects. Then, we present a FRS computation method which can easily be adapted to newly given reference trajectories. The presented method is validated by comparing the FRS with real flight data collected during agile and high-speed flight. In addition, we compare the FRS computed with and without compensating for firstorder aerodynamic effect to highlight their significance on the trajectory tracking performance. To the best of our knowledge, this is the first attempt to compute FRSs by incorporating firstorder aerodynamic effects for multirotors.

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:2019
Deposited On:30 Oct 2019 11:30
Last Modified:02 Nov 2019 01:16
Publisher:Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Additional Information:© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
OA Status:Green
Publisher DOI:https://doi.org/10.1109/lra.2018.2848302
Official URL:http://rpg.ifi.uzh.ch/docs/RAL18_Kim.pdf
Other Identification Number:merlin-id:18690

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