Localization matters too: How localization error affects UAV flight
arxiv(2024)
摘要
The maximum safe flight speed of a Unmanned Aerial Vehicle (UAV) is an
important indicator for measuring its efficiency in completing various tasks.
This indicator is influenced by numerous parameters such as UAV localization
error, perception range, and system latency. However, in terms of localization
errors, although there have been many studies dedicated to improving the
localization capability of UAVs, there is a lack of quantitative research on
their impact on speed. In this work, we model the relationship between various
parameters of the UAV and its maximum flight speed. We consider a scenario
similar to navigating through dense forests, where the UAV needs to quickly
avoid obstacles directly ahead and swiftly reorient after avoidance. Based on
this scenario, we studied how parameters such as localization error affect the
maximum safe speed during UAV flight, as well as the coupling relationships
between these parameters. Furthermore, we validated our model in a simulation
environment, and the results showed that the predicted maximum safe speed had
an error of less than 20
situations, localization error has a significant impact on the UAV's maximum
safe flight speed. This model can help designers utilize more suitable software
and hardware to construct a UAV system.
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