论文标题
使用屏障功能的多uav有效载荷系统的时间航路点导航
Temporal Waypoint Navigation of Multi-UAV Payload System using Barrier Functions
论文作者
论文摘要
空中包装运输通常需要满足复杂的空间和时间规格，以确保从一个点到另一点的安全和及时交付。通常，使用多个可以协同工作以实现所需任务的无人机运输多功能有效载荷是有效的。复杂的时间规格可以通过将信号时间逻辑（STL）应用于动态系统来连贯处理。本文使用高阶时间变化的控制屏障功能（HOCBFS）解决了在时间规格下多载有效载荷系统的WayPoint导航问题。使用输入输出反馈线性化，将相对程度的复杂的非线性系统转化为简单的线性系统。然后得出基于优化的控制法以实现有效载荷的时间通道导航。通过模拟高保真凉亭仿真环境中的包装交付方案，可以证明控制器的功效和实时可实现性。
Aerial package transportation often requires complex spatial and temporal specifications to be satisfied in order to ensure safe and timely delivery from one point to another. It is usually efficient to transport versatile payloads using multiple UAVs that can work collaboratively to achieve the desired task. The complex temporal specifications can be handled coherently by applying Signal Temporal Logic (STL) to dynamical systems. This paper addresses the problem of waypoint navigation of a multi-UAV payload system under temporal specifications using higher-order time-varying control barrier functions (HOCBFs). The complex nonlinear system of relative degree two is transformed into a simple linear system using input-output feedback linearization. An optimization-based control law is then derived to achieve the temporal waypoint navigation of the payload. The controller's efficacy and real-time implementability are demonstrated by simulating a package delivery scenario inside a high-fidelity Gazebo simulation environment.
