自律飛行のための衝突直前監視と安全停止介入システム
An imminent collision monitoring system with safe stopping interventions for autonomous aerial flights
飛行ロボットの安全性を常時監視し、衝突が迫ると観測地図内で安全に停止できる軌道を計画するシステムを提案し、実機・シミュレーションで90%以上の衝突回避率を示した。
著者: Jasmine Cheng, Xuning Yang, Nathan Michael
分類: cs.RO
原文アブストラクト
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a state of collision or the vehicle reaches a point where no trajectories are feasible, we propose a continuous collision checking algorithm. The imminent collision checking system continuously monitors vehicle safety, and plans a safe trajectory that leads the vehicle to a stop within the observed map. We test our proposed pipeline alongside a teleoperated navigation in real-life experiments, and in simulated random-forest and warehouse environments where we show that with our method, we are able to mitigate collisions with a success rate of at least 90\%.
