GPS非依存の障害物環境における高速自律飛行
Fast, Autonomous Flight in GPS-Denied and Cluttered Environments
GPSが使えない倉庫などの混雑環境で、事前知識をほとんど持たずに障害物を避けながら高速で自律飛行するロボットのシステム設計とソフトウェア構成を提案し、実環境実験で有効性を示した論文。
著者: Kartik Mohta, Michael Watterson, Yash Mulgaonkar, Sikang Liu, Chao Qu, Anurag Makineni, Kelsey Saulnier, Ke Sun, Alex Zhu, Jeffrey Delmerico, Konstantinos Karydis, Nikolay Atanasov, Giuseppe Loianno, Davide Scaramuzza, Kostas Daniilidis, Camillo Jose Taylor, Vijay Kumar
分類: cs.RO
原文アブストラクト
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution, and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development, and present results from extensive experimental testing in real-world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS-denied environments.
