A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework designed for autonomous aerial flights. The framework is composed of two key components: a disturbance-aware motion planner and a tracking controller. The disturbance-aware motion planner consists of a predictive control scheme and a learned model of disturbances that is adapted online. The tracking controller is designed using contraction control methods to provide safety bounds on the quadrotor behaviour in the vicinity of the obstacles with respect to the disturbance-aware motion plan. Finally, the algorithm is tested in simulation scenarios with a quadrotor facing strong crosswind and ground-induced disturbances.

翻译：自主飞行面临的主要挑战是未知扰动，这些扰动可能危及安全并导致碰撞，尤其在障碍物密集的环境中。本文提出了一种专为自主空中飞行设计的扰动感知运动规划与控制框架。该框架由两个关键组件构成：扰动感知运动规划器与跟踪控制器。扰动感知运动规划器包含一个预测控制方案和一个在线自适应学习的扰动模型。跟踪控制器采用收缩控制方法设计，旨在为四旋翼飞行器在障碍物附近遵循扰动感知运动计划的行为提供安全边界。最后，通过在仿真场景中对四旋翼飞行器面临强侧风和地面诱导扰动的测试，验证了所提算法的有效性。