A swarm of flying smartphones
A swarm of flying smartphones
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一群飞行的智能手机
DOI：
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发表时间：
2016
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
在过去的十年中，智能手机等消费电子设备都配备了小型摄像头、陀螺仪和加速计，所有传感器都允许在 GPS 拒绝的环境中自主部署空中机器人。我们之前的工作[1]证明了使用智能手机进行自主飞行的可行性。在许多应用中，人们对以协作方式使用多个自主飞行器来加速任务的运行非常感兴趣。在这项工作中，我们展示了第一个基于智能手机的完全自主的四旋翼飞行器群。多辆车能够规划安全轨迹，避免机器人间碰撞，同时优化给定任务，并以协作方式同时构建环境的 3D 地图。传感、传感器融合、控制和规划全部在现成的三星 Galaxy S5 智能手机上完成，仅使用手机上提供的单个摄像头和 IMU。这项工作允许任何拥有多部智能手机的消费者通过下载应用程序在没有 GPS 的情况下自动驾驶多辆车辆，并让车辆群合作绘制 3D 环境地图。
In the last decade, consumer electronic devices such as smartphones, are packaged with small cameras, gyroscopes, and accelerometers, all sensors allowing autonomous deployment of aerial robots in GPS-denied environments. Our previous work [1], demonstrated the feasibility of using smartphones for autonomous flight. In many applications, there is a large interest to the use multiple autonomous aerial vehicles in a cooperative manner to speed up the operation of the mission. In this work, we present the first fully autonomous smartphone-based swarm of quadrotors. Multiple vehicles are able to plan safe trajectories avoiding inter-robot collisions, optimizing at the same time a given task and concurrently building in a cooperative manner a 3-D map of the environment. The sensing, sensor fusion, control, and planning are all done on an offthe- shelf Samsung Galaxy S5 smartphone using just the single camera and IMU available on the phone. The work allows any consumer with multiple smartphones to autonomously drive a swarm of multiple vehicles without GPS, by downloading an app, and have the swarm cooperatively map a 3-D environment.