UAVとUGVのチームによる自律消火活動：MBZIRC 2020
Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020
LiDARと熱カメラを融合して火災を追跡し、GNSS制限環境でも自律的に消火する空陸ロボットチームを開発し、MBZIRC 2020で実証した。
著者: Jan Quenzel, Malte Splietker, Dmytro Pavlichenko, Daniel Schleich, Christian Lenz, Max Schwarz, Michael Schreiber, Marius Beul, Sven Behnke
分類: cs.RO
原文アブストラクト
Every day, burning buildings threaten the lives of occupants and first responders trying to save them. Quick action is of essence, but some areas might not be accessible or too dangerous to enter. Robotic systems have become a promising addition to firefighting, but at this stage, they are mostly manually controlled, which is error-prone and requires specially trained personal. We present two systems for autonomous firefighting from air and ground we developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. The systems use LiDAR for reliable localization within narrow, potentially GNSS-restricted environments while maneuvering close to obstacles. Measurements from LiDAR and thermal cameras are fused to track fires, while relative navigation ensures successful extinguishing. We analyze and discuss our successful participation during the MBZIRC 2020, present further experiments, and provide insights into our lessons learned from the competition.
