A Novel Dual Quaternion Based Dynamic Motion Primitives for Acrobatic Flight

TL;DR

This paper introduces a dual quaternion-based dynamic motion primitive method for fixed-wing UAV acrobatic flight, enabling accurate coupled motion description and real-time maneuver learning through imitation learning and HITL training.

Contribution

The paper proposes a novel dual quaternion-based DMP for coupled translational and rotational UAV motion and establishes an online HITL training system for real-time maneuver learning.

Findings

The DQ-DMP accurately models coupled UAV motion.

The HITL system enables real-time geometric feature extraction.

Simulation shows improved performance over traditional methods.

Abstract

The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver description method through the idea of imitation learning, and there are two main contributions of our work: 1) A dual quaternion based dynamic motion primitives (DQ-DMP) is proposed and the state equations of the position and attitude can be combined without loss of accuracy. 2) An online hardware-inthe-loop (HITL) training system is established. Based on the DQDMP method, the geometric features of the demonstrated maneuver can be obtained in real-time, and the stability of the DQ-DMP is theoretically proved. The simulation results illustrate the superiority of the proposed method compared to the traditional position/attitude decoupling method.