外观
论文arXiv 2610.1741916 天前
ClearNav：基于 Differential-Physics 的感知对齐四旋翼飞行
原文链接：ClearNav: Perception-Aligned Quadrotor Flight Using Differential-Physics（arXiv 2610.17419 · 发布日期：2026-10-12）
ClearNav: Perception-Aligned Quadrotor Flight Using Differential-Physics
ClearNav通过约束朝向、横向速度和近障速度训练导航策略，并在仿真与真实杂乱环境验证更安全的四旋翼飞行。
核心要点
- 仿真到硬件的高速策略在狭小净空中仍会碰撞，主因是向机载相机未观察方向运动。
- ClearNav用前视朝向目标、横向速度惩罚和近障减速奖励项，使运动对齐可见方向。
- 在18个未见仿真场景中，相比现有方法成功率提高6.8点，碰撞率相对降低65%。
- 真实杂乱环境验证显示可安全成功穿越；移动障碍结果方向一致但套件层面不显著。
验证范围与局限：验证包括仿真中18个未见场景和真实杂乱环境，移动障碍上的显著性有限。
英文摘要 (Abstract)
Autonomous quadrotor flight in cluttered environment is an key capability for tasks like inspection and search. Navigation policies trained in simulation and transferred to hardware can fly at high speed in open space, but they can still collide as obstacle clearance shrinks. We attribute most of these collisions to a single mechanism, namely motion in directions the onboard camera does not observe. Heading that is not aligned with the direction of travel and lateral excursion during obstacle avoidance both carry the vehicle toward obstacles outside its field of view. We introduce ClearNav, a navigation policy trained with two reward terms that constrain motion to the observed direction, a forward-looking heading target and a penalty on lateral velocity. A third term penalizes speed near obstacles so that an obstacle entering the field of view remains avoidable. In simulation, across 18 held-out scenarios with 2304 paired flights per policy unseen in training, ClearNav improves success by 6.8 points, cuts the collision rate by 65% relative to the state of the arts, and flies at maximum 5m/s. For the proximity term alone under matched commanded speeds, the collision reduction still holds at 70%. The effect is significant on static scenes and consistent in direction on moving obstacles, though not significant there at the suite level, showing that safer flight in clutter is possible even on the limited sensors and compute of small drones. We also validate our navigation policy in a real-world cluttered environment, showing that it enables the quadrotor to navigate through the cluttered environment successfully and safely.
作者：Aditya Azad, Arthur Huang, Guanrui Li
来源
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