複数四足歩行ロボットによる鉱山トンネル探査
Mine Tunnel Exploration using Multiple Quadrupedal Robots
通信・航続・走破性の制約が厳しいGNSS不可の地下環境で、複数の四足歩行ロボットが完全自律で探査・地図構築・分散DBメッシュによるデータ報告を行うシステムを構築し、DARPA SubTトンネルコースで数百m走破後のアーティファクト位置推定を示した。
著者: Ian D. Miller, Fernando Cladera, Anthony Cowley, Shreyas S. Shivakumar, Elijah S. Lee, Laura Jarin-Lipschitz, Akhilesh Bhat, Neil Rodrigues, Alex Zhou, Avraham Cohen, Adarsh Kulkarni, James Laney, Camillo Jose Taylor, Vijay Kumar
分類: cs.RO
原文アブストラクト
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further exacerbated by the need to minimize human intervention for practical applications. While legged robots have the ability to traverse extremely challenging terrain, they also engender new challenges for planning, estimation, and control. In this work, we describe a fully autonomous system for multi-robot mine exploration and mapping using legged quadrupeds, as well as a distributed database mesh networking system for reporting data. In addition, we show results from the DARPA Subterranean Challenge (SubT) Tunnel Circuit demonstrating localization of artifacts after traversals of hundreds of meters. These experiments describe fully autonomous exploration of an unknown Global Navigation Satellite System (GNSS)-denied environment undertaken by legged robots.
