论文标题
Octopter设计：建模，控制和运动计划
Octocopter Design: Modelling, Control and Motion Planning
论文作者
论文摘要
这本书为八摩托手系统的控制和运动计划设计提供了解决方案。它包括基于作者以前的研究工作的控制和运动计划算法的特定选择，因此可以用作学生，研究人员以及自动驾驶汽车业余爱好者的参考设计指南。控制是基于耐受的耐受方法来构建的，旨在增加系统检测和隔离潜在失败以产生可行的控制信号的可能性。使用的运动计划算法通过它考虑了与计划阶段中八杆驱动器系统对依赖性依赖和任务相关的可操作性分析相关的约束来感知风险的。这样的计划者仅生成那些参考轨迹，八杆驱动器系统将在单个电动机故障和大多数双电动机故障方案的情况下安全且能够进行良好的跟踪。书中提出的控制和运动计划算法旨在提高系统完成任务的整体可靠性。
This book provides a solution to the control and motion planning design for an octocopter system. It includes a particular choice of control and motion planning algorithms which is based on the authors' previous research work, so it can be used as a reference design guidance for students, researchers as well as autonomous vehicles hobbyists. The control is constructed based on a fault tolerant approach aiming to increase the chances of the system to detect and isolate a potential failure in order to produce feasible control signals to the remaining active motors. The used motion planning algorithm is risk-aware by means that it takes into account the constraints related to the fault-dependant and mission-related maneuverability analysis of the octocopter system during the planning stage. Such a planner generates only those reference trajectories along which the octocopter system would be safe and capable of good tracking in case of a single motor fault and of majority of double motor fault scenarios. The control and motion planning algorithms presented in the book aim to increase the overall reliability of the system for completing the mission.
