クラウド制御クアッドコプターの閉所自律ナビゲーション：マルチモーダル知覚とLLM駆動高次意味推論
Autonomous Navigation of Cloud-Controlled Quadcopters in Confined Spaces Using Multi-Modal Perception and LLM-Driven High Semantic Reasoning
GPSの使えない屋内閉所で飛ぶクアッドコプターのため、YOLOv11・Depth Anything V2・ToF/IMU基板・クラウドLLMを統合し、低遅延で衝突回避しながら自律飛行させるシステムを提案・実証した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Shoaib Ahmmad, Zubayer Ahmed Aditto, Md Mehrab Hossain, Noushin Yeasmin, Shorower Hossain
分類: cs.RO, cs.AI, cs.CV, cs.SY, eess.SY
原文アブストラクト
This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and incorporates a custom-designed printed circuit board (PCB) for efficient sensor data acquisition, enabling robust navigation in confined spaces. The system integrates YOLOv11 for object detection, Depth Anything V2 for monocular depth estimation, a PCB equipped with Time-of-Flight (ToF) sensors and an Inertial Measurement Unit (IMU), and a cloud-based Large Language Model (LLM) for context-aware decision-making. A virtual safety envelope, enforced by calibrated sensor offsets, ensures collision avoidance, while a multithreaded architecture achieves low-latency processing. Enhanced spatial awareness is facilitated by 3D bounding box estimation with Kalman filtering. Experimental results in an indoor testbed demonstrate strong performance, with object detection achieving a mean Average Precision (mAP50) of 0.6, depth estimation Mean Absolute Error (MAE) of 7.2 cm, only 16 safety envelope breaches across 42 trials over approximately 11 minutes, and end-to-end system latency below 1 second. This cloud-supported, high-intelligence framework serves as an auxiliary perception and navigation system, complementing state-of-the-art drone autonomy for GPS-denied confined spaces.
