Extinguishing of Ground Fires by Fully Autonomous UAVs motivated by the MBZIRC 2020 Competition
Extinguishing of Ground Fires by Fully Autonomous UAVs motivated by the MBZIRC 2020 Competition
复制标题
MBZIRC 2020 竞赛推动全自动无人机扑灭地面火灾
DOI：
10.1109/icuas51884.2021.9476723
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
M. Saska
中科院分区：
文献类型：
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作者：
V. Walter;Vojtech Spurný;Matěj Petrlík;T. Báča;David Žaitlík;M. Saska
本文提出了一种利用多旋翼无人机（UAV）放置灭火毯来自主扑灭地面火灾的系统。所提出的系统依赖于仅使用机载计算机的多个机载传感器的融合，独立于基础设施，重点关注需要即通即用完全自主的安全关键任务的高可靠性。这项任务是 MBZIRC 2020 第三个挑战的一部分，旨在开发用于扑灭建筑物内外火灾的自主机器人系统。 MBZIRC 竞赛促进了社会高度需求的机器人应用的开发，并且由于其复杂性和所需的机器人能力，超越了当前机器人的技术水平。据我们所知，我们的团队是仅有的两支成功实现完全自主放置灭火毯系统的团队之一，该系统采用基于视觉的目标定位，无需使用实时运动 (RTK)-全球导航卫星系统 (GNSS)，这符合比赛和急救人员实际任务的要求。
In this paper, a system for autonomous extinguishing of ground fires using the placement of fire blankets by Multi-rotor Unmanned Aerial Vehicles (UAVs) is proposed. The proposed system, relying on the fusion of multiple onboard sensors using only onboard computers, is infrastructure independent with a focus on high reliability in safety-critical missions that require power-on-and-go full autonomy. This task was part of the third challenge of MBZIRC 2020 aimed at the development of autonomous robotic systems for extinguishing fires inside and outside of buildings. The MBZIRC competition promotes the development of such robotics applications that are highly demanded by society and, due to their complexity and required robot abilities, go beyond the current robotic state of the art. As far as we are aware, our team was one of only two teams to achieve successful system for placement of fire blankets fully autonomously with vision-based target localization without using Real-time kinematic (RTK)-global navigation satellite system (GNSS), as was required in the competition and also for the real missions of first responders.