Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps
Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps
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DOI：
10.1007/978-3-030-43089-4_20
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发表时间：
2016
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影响因子：
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通讯作者：
Peter R. Florence;John Carter;Russ Tedrake
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文献类型：
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作者：
Peter R. Florence;John Carter;Russ Tedrake
提出了一种基于集成感知和控制的高速四旋翼飞行器在未知杂波环境中的鲁棒飞行方法。在实验中，准确的状态估计的困难是速度的主要限制，我们的方法放弃了维护地图，而倾向于只使用局部帧中的瞬时深度信息。这在存在重大状态估计不确定性的情况下提供了稳健性。此外，我们提出了增加空间划分数据结构的近似方法，以实现低延迟、实时的无功控制。概率公式提供了一种将反应性避障与任意导航目标相结合的自然方法。在状态估计噪声增加的情况下，我们使用模拟的四旋翼高速穿越森林来验证该方法。我们将我们的方法与运动基元库配对，并与全局路径生成和路径跟踪方法进行了比较。
We present a method for robust high-speed quadrotor flight through unknown cluttered environments using integrated perception and control. Motivated by experiments in which the difficulty of accurate state estimation was a primary limitation on speed, our method forgoes maintaining a map in favor of using only instantaneous depth information in the local frame. This provides robustness in the presence of significant state estimate uncertainty. Additionally, we present approximation methods augmented with spatial partitioning data structures that enable low-latency, real-time reactive control. The probabilistic formulation provides a natural way to integrate reactive obstacle avoidance with arbitrary navigation objectives. We validate the method using a simulated quadrotor race through a forest at high speeds in the presence of increasing state estimate noise. We pair our method with a motion primitive library and compare with a global path-generation and pathfollowing approach.