RANGE-Robust Autonomous Navigation in GPS-Denied Environments
RANGE-Robust Autonomous Navigation in GPS-Denied Environments
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DOI：
10.1002/rob.20400
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发表时间：
2011-09-01
影响因子：
8.3
通讯作者：
Roy, Nicholas
中科院分区：
文献类型：
--
作者：
Bachrach, Abraham;Prentice, Samuel;Roy, Nicholas
本文解决了微型飞行器 (MAV) 在 GPS 无法识别的环境中的自主导航问题。我们对我们的系统进行了实验验证和分析，该系统使配备激光测距传感器的四旋翼直升机能够自主探索和绘制非结构化和未知环境。实现 MAV 的 GPS 拒绝飞行的关键挑战是，系统必须能够通过感知未知的环境结构来估计其位置和速度，并具有足够的精度和足够低的延迟，以稳定地控制飞行器。面对 MAV 有效负载对传感、计算和通信资源施加的限制，我们的解决方案克服了这一挑战。我们首先分析了在 GPS 无法识别的区域实现完全自主四旋翼直升机飞行的要求，强调了地面机器人和空中机器人之间的差异，这些差异使得使用为地面机器人开发的算法变得困难。我们报告了验证我们针对关键挑战的解决方案的实验，即多级传感和控制层次结构，其中包含高速激光扫描匹配算法、数据融合滤波器、高级同步定位和映射以及目标导向的探索模块。这些实验说明了四旋翼直升机在许多大规模未知环境（室内和城市峡谷）中准确自主导航的能力。我们在 2009 年国际空中机器人竞赛中获奖，进一步验证了该系统，该竞赛要求四旋翼飞行器通过窗户自主进入危险的未知环境，在没有 GPS 的情况下探索室内结构，并搜索视觉目标。 (C) 2011 年 Wiley 期刊公司。
This paper addresses the problem of autonomous navigation of a micro air vehicle (MAV) in GPS-denied environments. We present experimental validation and analysis for our system that enables a quadrotor helicopter, equipped with a laser range finder sensor, to autonomously explore and map unstructured and unknown environments. The key challenge for enabling GPS-denied flight of a MAV is that the system must be able to estimate its position and velocity by sensing unknown environmental structure with sufficient accuracy and low enough latency to stably control the vehicle. Our solution overcomes this challenge in the face of MAV payload limitations imposed on sensing, computational, and communication resources. We first analyze the requirements to achieve fully autonomous quadrotor helicopter flight in GPS-denied areas, highlighting the differences between ground and air robots that make it difficult to use algorithms developed for ground robots. We report on experiments that validate our solutions to key challenges, namely a multilevel sensing and control hierarchy that incorporates a high-speed laser scan-matching algorithm, data fusion filter, high-level simultaneous localization and mapping, and a goal-directed exploration module. These experiments illustrate the quadrotor helicopter's ability to accurately and autonomously navigate in a number of large-scale unknown environments, both indoors and in the urban canyon. The system was further validated in the field by our winning entry in the 2009 International Aerial Robotics Competition, which required the quadrotor to autonomously enter a hazardous unknown environment through a window, explore the indoor structure without GPS, and search for a visual target. (C) 2011 Wiley Periodicals, Inc.