GNSS非依存の未知環境における災害調査のための自律飛行
Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
GNSSが使えない未知の災害現場で、屋内と屋外をまたいでも安全に自律飛行できるMAVシステムを提案し、複数の捜索救助シナリオで評価した。
著者: Daniel Schleich, Marius Beul, Jan Quenzel, Sven Behnke
分類: cs.RO
原文アブストラクト
Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone, especially in stressful situations of real emergencies. The conditions of disaster scenarios are also challenging for autonomous MAV systems. The environment is usually not known in advance and GNSS might not always be available. We present a system for autonomous MAV flights in unknown environments which does not rely on global positioning systems. The method is evaluated in multiple search and rescue scenarios and allows for safe autonomous flights, even when transitioning between indoor and outdoor areas.
