陸空両用車両のための自律適応ナビゲーション
Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles
陸上と空中の両方で移動できる二モード車両に完全な自律性を与えるため、階層型経路計画と消費電力を動的に調整する統合制御器を提案し、実機実験で複雑環境の安全な走破と陸上移動での7倍の省エネを実証した。
著者: Ruibin Zhang, Yuze Wu, Lixian Zhang, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive navigation framework to bring complete autonomy to this class of vehicles. The framework mainly includes 1) a hierarchical motion planner that generates safe and low-power terrestrial-aerial trajectories in unknown environments and 2) a unified motion controller which dynamically adjusts energy consumption in terrestrial locomotion. Extensive real-world experiments and benchmark comparisons are conducted on a customized robot platform to validate the proposed framework's robustness and performance. During the tests, the robot safely traverses complex environments with terrestrial-aerial integrated mobility, and achieves $7\times$ energy savings in terrestrial locomotion. Finally, we will release our code and hardware configuration for the reference of the community.
