当前位置: X-MOL 学术IEEE ASME Trans. Mechatron. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
An Active Sense and Avoid System for Flying Robots in Dynamic Environments
IEEE/ASME Transactions on Mechatronics ( IF 6.4 ) Pub Date : 2021-02-19 , DOI: 10.1109/tmech.2021.3060511
Gang Chen 1 , Wei Dong 1 , Xinjun Sheng 1 , Xiangyang Zhu 1 , Han Ding 2
Affiliation  

This article investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that utilizes a stereo camera with an independent rotational degree of freedom to sense the obstacles actively. In particular, the sensing direction is planned heuristically by multiple objectives, including tracking dynamic obstacles, observing the heading direction, and exploring the previously unseen area. With the sensing result, a flight path is then planned based on real-time sampling and uncertainty-aware collision checking in the state space, which constitutes an active sense and avoid system. Experiments in both simulation and the real world demonstrate that this system can well cope with dynamic obstacles and abrupt goal direction changes. Since only one stereo camera is utilized, this system provides a low-cost and effective approach to overcome the FOV limitation in visual navigation.

中文翻译:

动态环境下飞行机器人的主动感知与回避系统

本文研究了一种新颖的基于主动感应的避障范例,适用于动态环境中的飞行机器人。我们没有采用融合多个传感器来扩大视场(FOV)的方法,而是引入了一种替代方法,该方法利用具有独立旋转自由度的立体摄像机来主动感应障碍物。特别地,感测方向是通过多个目标进行启发式规划的,包括跟踪动态障碍物,观察航向以及探索以前看不见的区域。利用感测结果,然后基于状态空间中的实时采样和可识别不确定性的碰撞检查来计划飞行路线,这构成了主动感官和避免系统。在模拟和现实世界中的实验表明,该系统可以很好地应对动态障碍和突然的目标方向变化。由于仅使用一个立体摄像机,因此该系统提供了一种低成本且有效的方法来克服视觉导航中的FOV限制。
更新日期:2021-04-16
down
wechat
bug