Time-Optimal Flight with Safety Constraints and Data-driven Dynamics
arxiv(2024)
摘要
Time-optimal quadrotor flight is an extremely challenging problem due to the
limited control authority encountered at the limit of handling. Model
Predictive Contouring Control (MPCC) has emerged as a leading model-based
approach for time optimization problems such as drone racing. However, the
standard MPCC formulation used in quadrotor racing introduces the notion of the
gates directly in the cost function, creating a multi-objective optimization
that continuously trades off between maximizing progress and tracking the path
accurately. This paper introduces three key components that enhance the MPCC
approach for drone racing. First and foremost, we provide safety guarantees in
the form of a constraint and terminal set. The safety set is designed as a
spatial constraint which prevents gate collisions while allowing for
time-optimization only in the cost function. Second, we augment the existing
first principles dynamics with a residual term that captures complex
aerodynamic effects and thrust forces learned directly from real world data.
Third, we use Trust Region Bayesian Optimization (TuRBO), a state of the art
global Bayesian Optimization algorithm, to tune the hyperparameters of the MPC
controller given a sparse reward based on lap time minimization. The proposed
approach achieves similar lap times to the best state-of-the-art RL and
outperforms the best time-optimal controller while satisfying constraints. In
both simulation and real-world, our approach consistently prevents gate crashes
with 100% success rate, while pushing the quadrotor to its physical limit
reaching speeds of more than 80km/h.
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