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Nowadays, multirotors are playing important roles in abundant types ofmissions. During these missions, entering confined and narrow tunnels that arebarely accessible to humans is desirable yet extremely challenging formultirotors. The restricted space and significant ego airflow disturbancesinduce control issues at both fast and slow flight speeds, meanwhile bringingabout problems in state estimation and perception. Thus, a smooth trajectory ata proper speed is necessary for safe tunnel flights. To address thesechallenges, in this letter, a complete autonomous aerial system that can flysmoothly through tunnels with dimensions narrow to 0.6 m is presented. Thesystem contains a motion planner that generates smooth mini-jerk trajectoriesalong the tunnel center lines, which are extracted according to the map andEuclidean Distance Field (EDF), and its practical speed range is obtainedthrough computational fluid dynamics (CFD) and flight data analyses. Extensiveflight experiments on the quadrotor are conducted inside multiple narrowtunnels to validate the planning framework as well as the robustness of thewhole system.

Neither Fast Nor Slow: How to Fly Through Narrow Tunnels