未知環境におけるガラス障害物への能動的接触による空中ナビゲーション
Active Contact Engagement for Aerial Navigation in Unknown Environments with Glass
視覚で検出したガラス面に軽量接触センサで能動的に触れて確認し、地図を更新しながら安全な経路を再計画するドローンの自律飛行システムを提案した。
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著者: Xinyi Chen, Yichen Zhang, Hetai Zou, Junzhe Wang, Shaojie Shen
分類: cs.RO
原文アブストラクト
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and passive contact-resilient aerial vehicle designs to detect glass surfaces, which are often limited in terms of robustness and efficiency. In this work, we propose a novel approach for robust autonomous aerial navigation in unknown environments with transparent glass obstacles, combining the strengths of both sensor-based and contact-based glass detection. The proposed system begins with the incremental detection and information maintenance about potential glass surfaces using visual sensor measurements. The vehicle then actively engages in touch actions with the visually detected potential glass surfaces using a pair of lightweight contact-sensing modules to confirm or invalidate their presence. Following this, the volumetric map is efficiently updated with the glass surface information and safe trajectories are replanned on the fly to circumvent the glass obstacles. We validate the proposed system through real-world experiments in various scenarios, demonstrating its effectiveness in enabling efficient and robust autonomous aerial navigation in complex real-world environments with glass obstacles.
