COMPRA：地下災害救助向け小型ドローンの反応的自律探索フレームワーク
COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations
GPSの使えない地下空間で小型ドローンが機上計算のみで未知領域を自律探索し、対象物を発見・位置推定する低計算コストなフレームワークを提案し、実環境で検証した。
著者: Björn Lindqvist, Christoforos Kanellakis, Sina Sharif Mansouri, Ali-akbar Agha-mohammadi, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and-Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomously explore previously unknown areas while specific mission criteria are considered e.g. an object of interest is identified and localized, the remaining useful battery life, the overall desired exploration mission duration. The proposed architecture follows a low-complexity algorithmic design to facilitate fully on-board computations, including nonlinear control, state-estimation, navigation, exploration behavior and object localization capabilities. The framework is mainly structured around a reactive local avoidance planner, based on enhanced Potential Field concepts and using instantaneous 3D pointclouds, as well as a computationally efficient heading regulation technique, based on depth images from an instantaneous camera stream. Those techniques decouple the collision-free path generation from the dependency of a global map and are capable of handling imprecise localization occasions. Field experimental verification of the overall architecture is performed in relevant unknown Global Positioning System (GPS)-denied environments.
