Abstract
This paper aims to design quadrotor swarm performances, where the swarm acts as an integrated, coordinated unit embodying moving and deforming objects. We divide the task of creating a choreography into three basic steps: designing swarm motion primitives, transitioning between those movements, and synchronizing the motion of the drones. The result is a flexible framework for designing choreographies comprised of a wide variety of motions. The motion primitives can be intuitively designed using few parameters, providing a rich library for choreography design. Moreover, we combine and adapt existing goal assignment and trajectory generation algorithms to maximize the smoothness of the transitions between motion primitives. Finally, we propose a correction algorithm to compensate for motion delays and synchronize the motion of the drones to a desired periodic motion pattern. The proposed methodology was validated experimentally by generating and executing choreographies on a swarm of 25 quadrotors.
Abstract (translated)
本文旨在设计四转子群的性能,其中群作为一个整体,协调的单位体现了移动和变形的对象。我们将编舞的任务分为三个基本步骤:设计群运动原语,在这些运动之间转换,以及同步无人机的运动。其结果是一个灵活的框架,用于设计由多种运动组成的舞蹈设计。运动原语可以用少量参数直观地设计,为舞蹈设计提供了丰富的库。此外,我们结合并调整现有的目标分配和轨迹生成算法,以最大限度地提高运动原语之间过渡的平滑性。最后,我们提出了一种修正算法来补偿运动延迟,并将无人机的运动同步到所需的周期运动模式。通过在25个四转子群上生成和执行编舞,对该方法进行了实验验证。
URL
https://arxiv.org/abs/1810.03572