For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. However, unlike multi-rotors, airships are severely motion constrained and affected by ambient wind. Their orientation and flight direction are also tightly coupled. Therefore, state-of-the-art MPC-based formation control methods for perception tasks are not directly applicable for a team of airships. In this paper, we address this problem by first exploiting a periodic relationship between the airspeed of an airship and its distance to the subject. We use it to derive analytical and numeric solutions that satisfy the MoCap perception constraints. Based on this, we develop an MPC-based formation controller. We performed detailed analysis of our solution, including the effects of changing physical parameters (like angle of attack and pitch angle) on it. Extensive simulation experiments, comparing results for different formation sizes, different wind conditions and various subject speeds, are presented. A demonstration of our method on a real airship is also included. We have released all of our source code at https://github.com/robot-perception-group/Airship-MPC. A video describing our approach and results can be watched at https://youtu.be/ihS0_VRD_kk
翻译:对于自然栖息地动物的追踪和运动捕捉(MoCap)而言,建立一个安全和静默的空中平台,例如机上装有摄像机的飞机,是非常合适的。然而,与多旋翼不同的是,航空船受到环境风的严格限制,受到环境风力的严重影响,飞行方向也是紧密结合的。因此,以最先进的MPC为基地的形成控制方法对观察任务的影响,不能直接适用于一个飞行船队。在本文件中,我们首先利用航空船的飞行速度和与该机的距离之间的定期关系来处理这个问题。我们利用它来提出符合机动机感知限制的分析和数字解决方案。在此基础上,我们开发了以MPC为基地的形成控制器。我们对解决办法进行了详细分析,包括改变物理参数(如攻击角度和投放角度)对飞行任务的影响。我们进行了广泛的模拟实验,比较了不同编造规模、不同风条件和不同主题速度的结果。我们还在实际航空船上展示了我们的方法。我们已在https://gius_Abbbek/ avobek上发布了我们的源代码。我们已在http://Ang_Agrocsion/ abrobsup http://Agrops/ absmus/ action/ action/ action/ actionsmmmmmmmmusmmusmmmmmmmmus)。