It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow disturbance can be a significant adverse factor during flights, causing potential safety issues, especially in narrow and confined indoor environments. Therefore, we propose a novel method to estimate and adapt indoor ego airflow disturbance of quadrotors, meanwhile applying it to trajectory planning. Firstly, the hover experiments for different quadrotors are conducted against the proximity effects. Then with the collected acceleration variance, the disturbances are modeled for the quadrotors according to the proposed formulation. The disturbance model is also verified under hover conditions in different reconstructed complex environments. Furthermore, the approximation of Hamilton-Jacobi reachability analysis is performed according to the estimated disturbances to facilitate the safe trajectory planning, which consists of kinodynamic path search as well as B-spline trajectory optimization. The whole planning framework is validated on multiple quadrotor platforms in different indoor environments.
翻译：普遍接受的是,在作为最广泛采用的无人驾驶飞行器之一的赤道飞行器的自主航行期间,安全始终是最高优先事项,然而,观察到自我气流扰动在飞行期间可能是一个重大不利因素,造成潜在的安全问题,特别是在狭窄和封闭的室内环境中,因此,我们提出一种新的方法,用以估计和适应四头虎的室内自来气流扰动,同时将其应用于轨迹规划。首先,不同四头虎的悬浮实验是针对近距离效应进行的。随后,随着加速变化的收集,扰动是按拟议公式为四头虎制作的模型。扰动模型还在不同重建的复杂环境中的悬浮条件下进行验证。此外,汉密尔顿-Jacobi的近距离分析是根据估计的扰动作用进行,以便利安全轨迹规划,其中包括流动动力路径搜索以及B-spline轨迹优化。整个规划框架在不同室内环境中的多个梯床平台上得到验证。
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