GPS不要の高速自律クアッドロータ飛行実験
Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight
未知環境を18m/s以上で自律飛行するクアッドロータシステムを構築し、知覚と行動の低遅延統合と各構成要素の効率化により障害物の多い屋内・屋外環境での高速ナビゲーションを実証した。
著者: Kartik Mohta, Ke Sun, Sikang Liu, Michael Watterson, Bernd Pfrommer, James Svacha, Yash Mulgaonkar, Camillo Jose Taylor, Vijay Kumar
分類: cs.RO
原文アブストラクト
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small as possible. Aerial robots add a limitation of payload capacity, which restricts the amount of computation that can be carried onboard. This requires efficient algorithms for each component in the navigation system. In this paper, we describe our quadrotor system which is able to smoothly navigate through mixed indoor and outdoor environments and is able to fly at speeds of more than 18 m/s. We provide an overview of our system and details about the specific component technologies that enable the high speed navigation capability of our platform. We demonstrate the robustness of our system through high speed autonomous flights and navigation through a variety of obstacle rich environments.
