Benchmarking Tether-based UAV Motion Primitives
Benchmarking Tether-based UAV Motion Primitives
复制标题
基于系绳的无人机运动基元的基准测试
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
R. Murphy
中科院分区：
文献类型：
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作者：
Xuesu Xiao;J. Dufek;R. Murphy
本文提出并测试了两种基于绳系的运动基元，用于绳系无人机在只有本体感觉的情况下执行自主飞行。系留无人机的研究主要是出于动力和安全方面的考虑。系绳要么不包括在无人机的运动中（与自由飞行的无人机一样处理），要么只包括在位置保持和高速稳定飞行方面。然而，来自系绳配置的反馈和对系绳配置的控制可以用作自主飞行的一组导航工具，特别是在GPS拒绝的环境中，并且没有基于视觉的外转。在这项工作中，提出了两个基于绳系的运动原语，它可以使系留无人机的自主飞行。建议的运动原语上实现的物理系留无人机的自主路径执行与运动捕捉地面实况。导航性能进行量化和比较。提出的运动基元使系留无人机成为一个移动的安全的自主机器人平台。基准测试的结果表明，适当的使用这两个运动原语系留无人机与不同的路径规划。
This paper proposes and benchmarks two tether-based motion primitives for tethered UAVs to execute autonomous flight with proprioception only. Tethered UAVs have been studied mainly due to power and safety considerations. Tether is either not included in the UAV motion (treated same as free-flying UAV) or only in terms of station-keeping and highspeed steady flight. However, feedback from and control over the tether configuration could be utilized as a set of navigational tools for autonomous flight, especially in GPS-denied environments and without vision-based exteroception. In this work, two tether-based motion primitives are proposed, which can enable autonomous flight of a tethered UAV. The proposed motion primitives are implemented on a physical tethered UAV for autonomous path execution with motion capture ground truth. The navigational performance is quantified and compared. The proposed motion primitives make tethered UAV a mobile and safe autonomous robot platform. The benchmarking results suggest appropriate usage of the two motion primitives for tethered UAVs with different path plans.
使用系留无人机为机器人操作提供自主视觉辅助
DOI：
10.1007/978-981-15-9460-1_2
发表时间：
2021
期刊：
Field and Service Robotics. Springer Proceedings in Advanced Robotics
影响因子：
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作者：
Xiao, X.;Dufek, J.;Murphy, R.R.
通讯作者：
Murphy, R.R.