# 构型诱导的被动自旋转用于感知增强自主飞行

> 原文链接：https://robotics.hellobike.com/papers/2026-07-20-2607-17646
> 频道：papers | 更新日期：2026-07-20 | 标签：arxiv, cs.RO
> 核心摘要：针对机载传感器视场受限问题，提出构型诱导被动自旋转三旋翼及分层自主框架，并在真实飞行实验中验证。

# 构型诱导的被动自旋转用于感知增强自主飞行

::: v-pre
> 原文链接：[Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight](https://arxiv.org/abs/2607.17646)（arXiv 2607.17646 · 发布日期：2026-07-20）

**Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight**

针对机载传感器视场受限问题，提出构型诱导被动自旋转三旋翼及分层自主框架，并在真实飞行实验中验证。

## 核心要点

- 受限和杂乱环境中的自主飞行受机载传感器视场限制，被动自旋转可扩展感知覆盖但带来刷新率与飞行性能权衡。
- 利用后臂构型参数调节被动自旋转工作点，从机体层面平衡扫掠视场刷新率与飞行性能。
- 开发集成规划与控制的分层自主框架，使飞行器在连续被动自旋转下实现敏捷、鲁棒自主飞行。
- 真实实验涵盖高速轨迹跟踪、抗扰测试和代表性杂乱环境自主导航，并在基于航点的巡检中用引导点重规划提升覆盖。

**验证范围与局限**：验证范围为真实世界实验，包括高速轨迹跟踪、抗扰测试和代表性杂乱环境自主导航。

## 英文摘要 (Abstract)

Autonomous flight in confined and cluttered environments is fundamentally limited by the restricted field of view (FoV) of onboard sensors. Passive self-rotation expands sensing coverage without additional sensors but introduces a tradeoff between swept-FoV refresh rate and flight performance. This letter presents a configuration-induced passively self-rotating tricopter for perception-enhanced autonomous flight. Firstly, the rear-arm configuration parameter is exploited to regulate the passive self-rotation operating point, providing an airframe-level mechanism for balancing swept-FoV refresh rate and flight performance. Secondly, a hierarchical autonomy framework integrating planning and control is developed to enable agile and robust autonomous flight under continuous passive self-rotation. For waypoint-based inspection, guide-point replanning is further used to improve task-level coverage. Extensive real-world experiments, including high-speed trajectory tracking, disturbance-rejection tests, and autonomous navigation in representative cluttered environments, demonstrate the effectiveness of the proposed approach for perception-enhanced autonomous flight.

作者：Xurui Liu, M Wang, He, Tianyu, Linrui Yang, X J Zhou
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## 原始参考来源 (Sources)

- [arXiv 2607.17646：Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight](https://arxiv.org/abs/2607.17646)