外观
论文arXiv 2607.176463 个月前
构型诱导的被动自旋转用于感知增强自主飞行
原文链接：Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight（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
来源
本页事实对应的公开页面，以原文为准。