Autonomous flight and cooperative control for reconstruction using aerial robots powered by smartphones
Autonomous flight and cooperative control for reconstruction using aerial robots powered by smartphones
复制标题
使用智能手机驱动的空中机器人进行自主飞行和协作控制进行重建
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Vijay R. Kumar
中科院分区：
文献类型：
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作者：
Giuseppe Loianno;Yash Mulgaonkar;Chris Brunner;Dheeraj Ahuja;Arvind Ramanandan;Murali Chari;S. Diaz;Vijay R. Kumar
消费电子产品的进步，以及在个人电脑、数码相机和智能手机上看到的技术，导致传感器和处理器的性价比在过去十年中大幅下降。特别是，许多消费产品都包装有小型相机，陀螺仪和加速度计，所有这些传感器都是自主机器人在没有gps的环境中所需要的。低质量和小尺寸使它们特别适合小型飞行机器人的自主飞行。在这项工作中，我们提出了第一个完全自主的基于智能手机的四旋翼飞行器系统。我们展示了如何稳定和控制多个四旋翼飞行器，以实现室内建筑中的自主飞行，并应用于智能家居，搜索和救援，监控建筑项目以及开发建筑设计模型。在我们的工作中，传感和控制的计算在现成的智能手机上运行，所有的软件功能都嵌入在智能手机应用程序中。自主飞行不需要额外的传感器或处理器。我们还能够使用多个协调的自主飞行器来提高我们的任务效率。在我们的框架中，多辆车能够规划安全的轨迹，避免机器人之间的碰撞，同时以合作的方式构建环境的三维地图。这项工作允许任何消费者拥有任意数量的配备智能手机的机器人，即使没有GPS，也可以通过下载我们的应用程序来自动驾驶一组四旋翼机器人，并合作绘制三维地图。
Advances in consumer electronics products and the technology seen in personal computers, digital cameras, and smartphones phones have led to the price/performance ratio of sensors and processors falling dramatically over the last decade. In particular, many consumer products are packaged with small cameras, gyroscopes, and accelerometers, all sensors that are needed for autonomous robots in GPS-denied environments. The low mass and small form factor make them particularly well suited for autonomous flight with small flying robots. In this work, we present the first fully autonomous smartphone-based system for quadrotors. We show how multiple quadrotors can be stabilized and controlled to achieve autonomous flight in indoor buildings with application to smart homes, search and rescue, monitoring construction projects, and developing models for architecture design. In our work, the computation for sensing and control runs on an off-the-shelf smartphone, with all the software functionality embedded in a smartphone app. No additional sensors or processors are required for autonomous flight. We are also able to use multiple, coordinated autonomous aerial vehicles to improve the efficiency of our mission. In our framework, multiple vehicles are able to plan safe trajectories avoiding inter-robot collisions, while concurrently building in a cooperative manner a three-dimensional map of the environment. The work allows any consumer with any number of robots equipped with smartphones to autonomously drive a team of quadrotor robots, even without GPS, by downloading our app and cooperatively build three-dimensional maps.