Fast Autonomous Flight in Warehouses for Inventory Applications
Fast Autonomous Flight in Warehouses for Inventory Applications
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DOI：
10.1109/lra.2018.2849833
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Behnke, Sven
中科院分区：
文献类型：
--
作者：
Beul, Marius;Droeschel, David;Behnke, Sven
在过去的几年里，微型飞行器（MAV）的使用案例显着增长。可设想的室内应用需要高度鲁棒的环境感知、对变化的情况的快速反应以及稳定的导航，但是在室内飞行期间，诸如全球导航卫星系统（GNSS）或罗盘测量的可靠的绝对定位源不可用。我们提出了一个高性能的自主库存MAV仓库内的操作。MAV可沿沿着仓库通道导航，并通过包含射频识别（RFID）读取器和两个高分辨率摄像头的多模式传感器装置检测货架上的库存。我们详细描述了基于三维激光雷达的同时定位和映射（SLAM）管道，股票识别的设置，使命规划和轨迹生成，以及一个低级别的例程，以避免动态或以前未观察到的障碍。实验是在一个物流供应商的仓库中进行的，其中一个外部仓库管理系统为MAV提供了完全自主执行的高级别检查任务。
The past years have shown a remarkable growth in use-cases for micro aerial vehicles (MAVs). Conceivable indoor applications require highly robust environment perception, fast reaction to changing situations, and stable navigation, but reliable sources of absolute positioning such as global navigation satellite system (GNSS) or compass measurements are unavailable during indoor flights. We present a high-performance autonomous inventory MAV for operation inside warehouses. The MAV navigates along warehouse aisles and detects the placed stock in the shelves alongside its path with a multimodal sensor setup containing an radio-frequency identification (RFID) reader and two high-resolution cameras. We describe in detail the simultaneous localization and mapping (SLAM) pipeline based on a three-dimensional lidar, the setup for stock recognition, the mission planning and trajectory generation, as well as a low-level routine for avoidance of dynamical or previously unobserved obstacles. Experiments were performed in an operative warehouse of a logistics provider, in which an external warehouse management system provided the MAV with high-level inspection missions that are executed fully autonomously.