Morphing quadrotors with four external actuators can adapt to different restricted scenarios by changing their geometric structure. However, previous works mainly focus on the improvements in structures and controllers, and existing planning algorithms don't consider the morphological modifications, which leads to safety and dynamic feasibility issues. In this paper, we propose a unified planning and control framework for morphing quadrotors to deform autonomously and efficiently. The framework consists of a milliseconds-level spatial-temporal trajectory optimizer that takes into account the morphological modifications of quadrotors. The optimizer can generate full-body safety trajectories including position and attitude. Additionally, it incorporates a nonlinear attitude controller that accounts for aerodynamic drag and dynamically adjusts dynamic parameters such as the inertia tensor and Center of Gravity. The controller can also online compute the thrust coefficient during morphing. Benchmark experiments compared with existing methods validate the robustness of the proposed controller. Extensive simulations and real-world experiments are performed to demonstrate the effectiveness of the proposed framework.

翻译：变形四旋翼通过四个外部执行器改变几何结构，可适应不同的受限场景。然而，现有研究主要集中于结构与控制器的改进，且现有规划算法未考虑形态变化，由此引发安全性与动态可行性问题。本文提出一种面向自主高效变形的统一规划与控制框架。该框架包含一个毫秒级时空轨迹优化器，能够考虑四旋翼的形态变化。该优化器可生成包含位置与姿态的全状态安全轨迹。此外，框架集成了一种考虑气动阻力的非线性姿态控制器，可动态调整惯性张量与重心等动力学参数，并在变形过程中在线计算推力系数。与现有方法的基准实验验证了所提控制器的鲁棒性。通过大量仿真与现实实验证明了该框架的有效性。