Volumetric Harmonic Field Navigation for Quadrotors

2026-09-14

AI Summary

本文解决了在3D复杂环境中四旋翼导航的问题，通过预计算体积谐波场与受限预测规划器结合的方法，实现了物理四旋翼的全局和局部运动控制。

Abstract

Quadrotor navigation in cluttered 3-D environments requires global guidance while local motion remains subject to collision and motion limits. Harmonic potentials provide dense guidance from a global boundary value problem, but coupling a volumetric harmonic field to constrained physical quadrotor motion remains an open experimental problem. We couple a precomputed volumetric harmonic field with a constrained predictive planner that queries the field at predicted positions instead of extracting a global reference path. In Structured 3-D tests, harmonic guidance yields larger minimum clearance and lower RMS jerk than matched Dijkstra guidance, at the cost of longer paths; the same pattern remains when both methods use the same passage. Long maze tests span routes far beyond one prediction horizon, and Crazyflie trials validate physical execution. To the best of our knowledge, this is the first physical quadrotor demonstration of volumetric harmonic field navigation. The results show that globally constructed harmonic guidance can directly support local constrained motion generation on a physical quadrotor.

Problem

• Quadrotor navigation
• volumetric harmonic field
• constrained motion
• collision limits
• global guidance

Innovation

• volumetric harmonic field
• constrained predictive planner
• quadrotor navigation