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首页> 外文期刊>Robotics and Autonomous Systems >Open-sector rapid-reactive collision avoidance: Application in aerial robot navigation through outdoor unstructured environments
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Open-sector rapid-reactive collision avoidance: Application in aerial robot navigation through outdoor unstructured environments

机译：开放式开放式快速防撞避免：在空中机器人导航中通过户外非结构化环境应用

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摘要

A new reactive collision avoidance method for navigation of aerial robots (such as unmanned aerial vehicles (UAVs)) in unstructured urban/suburban environments is presented. Small form-factor aerial robots, such as quadcopters, often have limited payload capacity, flight time, processing power, and sensing capabilities. To enhance the capabilities of such vehicles without increasing weight or computing power, a reactive collision avoidance method based on open sectors is described. The method utilizes information from a two-dimensional laser scan of the environment and a short-term memory of past actions and can rapidly circumvent obstacles in outdoor urban/suburban environments. With no map required, the method enables the robot to react quickly and navigate even when the enivornment changes. Furthermore, the low computational requirement of the method allows the robot to quickly react to unknown obstacles that may be poorly represented in the scan, such as trees with branches and leaves. The method is validated in simulation results and through physical experiments on a prototype quadcopter system, where results show the robot flying smoothly around obstacles at a relatively high speed (3 m/s). (C) 2018 Elsevier B.V. All rights reserved.
机译：提出了一种新的反应碰撞避免用于导航的空中机器人（如无人机城市/郊区环境中的无人驾驶飞行器（如无人机））。小型空中机器人，如Quadcopters，通常具有有限的有效载荷容量，飞行时间，处理能力和传感功能。为了增强这种车辆的能力而不增加重量或计算能力，描述了一种基于开放扇区的无功碰撞避免方法。该方法利用来自环境的二维激光扫描的信息和过去动作的短期记忆，并且可以在户外城市/郊区环境中快速避免避难。不需要映射，即使在enivornment发生变化时，该方法也使机器人能够快速响应并导航。此外，该方法的低计算要求允许机器人快速地对扫描中所示差的未知障碍物，例如具有分支和叶子的树木。该方法在仿真结果中验证，通过原型Quadcopter系统的物理实验，结果显示了机器人以相对高速（3米/秒）的障碍物平稳地飞行。 （c）2018 Elsevier B.v.保留所有权利。

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  • 来源
    《Robotics and Autonomous Systems》 |2019年第2019期|共10页
  • 作者

    Steiner Jake A.; He Xiang; Bourne Joseph R.; Leang Kam K.;

  • 作者单位

    Univ Utah Robot Ctr Dept Mech Engn Design Automat Robot &

    Control DARC Lab Salt Lake City UT 84112 USA;

    Univ Utah Robot Ctr Dept Mech Engn Design Automat Robot &

    Control DARC Lab Salt Lake City UT 84112 USA;

    Univ Utah Robot Ctr Dept Mech Engn Design Automat Robot &

    Control DARC Lab Salt Lake City UT 84112 USA;

    Univ Utah Robot Ctr Dept Mech Engn Design Automat Robot &

    Control DARC Lab Salt Lake City UT 84112 USA;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机器人技术;
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