Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios. In this paper, we describe a novel time-optimal trajectory generation method for generating time-optimal trajectories for a swarm of quadrotors to fly through pre-defined waypoints with their maximum maneuverability without collision. We verify the method in the Gazebo simulations where a swarm of 5 quadrotors can fly through a complex 6-waypoint racing track in a 35m * 35m space with a top speed of 14m/s. Flight tests are performed on two quadrotors passing through 3 waypoints in a 4m * 2m flight arena to demonstrate the feasibility of the proposed method in the real world. Both simulations and real-world flight tests show that the proposed method can generate the optimal aggressive trajectories for a swarm of autonomous racing drones. The method can also be easily transferred to other types of robot swarms.
翻译:自动无人驾驶飞机赛车正在成为挑战赤道体自主技术,包括规划、导航和控制技术的极好平台。然而,关于这一专题的大多数研究主要侧重于单一无人驾驶飞机的情景。在本文中,我们描述了一种新颖的时间最佳轨迹生成方法,用于为四米 * 2米飞行场中经过三条路点的两个四角轨道进行飞行试验,以展示拟议方法在现实世界中的可行性。模拟和真实世界飞行试验都表明,拟议的方法可以产生一支自动赛车无人机群的最佳侵略轨迹。这种方法也可以很容易地转移到其他类型的机器人群。</s>