Autonomous Transportation and Deployment with Aerial Robots for Search and Rescue Missions
Autonomous Transportation and Deployment with Aerial Robots for Search and Rescue Missions
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DOI：
10.1002/rob.20401
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发表时间：
2011-11-01
影响因子：
8.3
通讯作者：
Ollero, Anibal
中科院分区：
文献类型：
--
作者：
Bernard, Markus;Kondak, Konstantin;Ollero, Anibal
人们普遍认为，由多个具有自主协作能力的空中机器人组成的系统可以在许多搜索和救援（SAR）场景中帮助响应者。在以往的研究工作中，空中机器人主要被认为是环境传感平台，并没有被用于援助受害者。在本文中，运输和精确部署的负载与单/多个自主飞行器的室外现场实验。这是一项新功能，为在救援阶段使用空中机器人协助受害者提供了可能性。部署位置的准确性是SAR场景中的一个关键问题，其中受伤人员可能具有非常有限的移动性。所提出的系统是由多达三个小型直升机和功能的合作感测，使用几种不同的传感器类型。该系统还支持多种形式的协同驱动，从小型传感器/物体的协同部署到悬挂载荷的耦合运输。描述了完整的系统，概述了所使用的硬件和软件框架，以及所使用的建模和控制方法。此外，还介绍了几个飞行场实验的结果，包括世界上第一个成功的自主载荷运输实验的描述，使用三个耦合的小型直升机（2007年12月进行）。在这些实验中，出现了强而稳定的风和阵风。还提供了各种解决办法和从系统设计和运行中吸取的经验教训。(C)2011 Wiley Periodicals，Inc.
It is generally accepted that systems composed of multiple aerial robots with autonomous cooperation capabilities can assist responders in many search and rescue (SAR) scenarios. In most of the previous research work, the aerial robots are mainly considered as platforms for environmental sensing and have not been used to assist victims. In this paper, outdoor field experiments of transportation and accurate deployment of loads with single/multiple autonomous aerial vehicles are presented. This is a novel feature that opens the possibility to use aerial robots to assist victims during rescue phase operations. Accuracy in the deployment location is a critical issue in SAR scenarios in which injured people may have very limited mobility. The presented system is composed of up to three small-size helicopters and features cooperative sensing, using several different sensor types. The system supports several forms of cooperative actuation as well, ranging from the cooperative deployment of small sensors/objects to the coupled transportation of slung loads. The complete system is described, outlining the hardware and software framework used, as well as the approaches for modeling and control used. Additionally, the results of several flight field experiments are presented, including a description of the worldwide first successful autonomous load transportation experiment, using three coupled small-size helicopters (conducted in December 2007). During these experiments strong, steady winds and wind gusts were present. Various solutions and lessons learned from the design and operation of the system are also provided. (C) 2011 Wiley Periodicals, Inc.