Recreating Bat Behavior on Quad-rotor UAVs-A Simulation Approach
Recreating Bat Behavior on Quad-rotor UAVs-A Simulation Approach
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发表时间：
2020-02
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通讯作者：
M. H. Tanveer;Antony Thomas;Xiaowei Wu;R. Müller;Pratap Tokekar;Hongxiao Zhu
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作者：
M. H. Tanveer;Antony Thomas;Xiaowei Wu;R. Müller;Pratap Tokekar;Hongxiao Zhu
我们开发了一个有效的计算机模型来模拟由自然树木组成的传感环境。模拟的环境是随机的，包含树叶的完整几何形状。虽然该仿真模型可以作为研究不同飞行物种感知机制的通用平台，但我们的最终目标是构建蝙蝠启发的四旋翼无人机-可以在茂密植被中重现蝙蝠的飞行行为（例如避障，路径规划）的无人机。为此，我们还介绍了一种树叶回波模拟器，通过模拟蝙蝠的生物声纳产生模拟回波。在我们目前的模型中，做出了一些现实的模型选择或假设。首先，为了创建自然外观的树，树的分支结构由l系统建模，而分支，子分支和叶子的详细几何形状是通过在CAD对象文件中随机化参考树来创建的。此外，树叶回波模拟器进行了简化，使不考虑遮阳效应。我们通过模拟具有多个树的现实世界场景来演示我们开发的模型，并沿四旋翼轨迹计算相应的脉冲响应。
We develop an effective computer model to simulate sensing environments that consist of natural trees. The simulated environments are random and contain full geometry of the tree foliage. While this simulated model can be used as a general platform for studying the sensing mechanism of different flying species, our ultimate goal is to build bat-inspired Quad-rotor UAVs- UAVs that can recreate bat's flying behavior (e.g., obstacle avoidance, path planning) in dense vegetation. To this end, we also introduce an foliage echo simulator that can produce simulated echoes by mimicking bat's biosonar. In our current model, a few realistic model choices or assumptions are made. First, in order to create natural looking trees, the branching structures of trees are modeled by L-systems, whereas the detailed geometry of branches, sub-branches and leaves is created by randomizing a reference tree in a CAD object file. Additionally, the foliage echo simulator is simplified so that no shading effect is considered. We demonstrate our developed model by simulating real-world scenarios with multiple trees and compute the corresponding impulse responses along a Quad-rotor trajectory.