Autonomous multi-floor indoor navigation with a computationally constrained micro aerial vehicle
Autonomous multi-floor indoor navigation with a computationally constrained micro aerial vehicle
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使用计算受限的微型飞行器进行自主多层室内导航
DOI：
10.1109/icra.2011.5980364
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
Vijay R. Kumar
中科院分区：
文献类型：
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作者：
S. Shen;Nathan Michael;Vijay R. Kumar
我们感兴趣的问题，监视和探索环境，包括室内和室外设置。与地面平台相比，飞行器提供了机动性和视角优势，并且微型飞行器（MAV）特别适用于楼梯间可能成为地面车辆障碍的多层建筑物。在室内环境中操作时的一个挑战是缺乏外部定位源，例如GPS。由于这些原因，在这项工作中，我们专注于自主导航的建筑物中的多层不需要外部源的本地化或先验知识的环境。为了确保机器人是完全自主的，我们要求所有的计算都在机器人上进行，而不需要外部基础设施、通信或高级命令之外的人机交互。因此，我们追求的系统设计和方法能够自主导航的实时性能的移动的处理器上使用板载传感器（图1），在这项工作中，自主导航考虑多楼层映射与环路闭合，定位，规划和控制。
We are interested in the problem of surveilling and exploring environments that include both indoor and outdoor settings. Aerial vehicles offer mobility and perspective advantages over ground platforms and micro aerial vehicles (MAVs) are particularly applicable to buildings with multiple floors where stairwells can be an obstacle to ground vehicles. A challenge when operating in indoor environments is the lack of an external source of localization such as GPS. For these reasons, in this work we focus on autonomous navigation in buildings with multiple floors without requiring an external source of localization or prior knowledge of the environment. To ensure that the robot is fully autonomous, we require all computation to occur on the robot without need for external infrastructure, communication, or human interaction beyond high-level commands. Therefore, we pursue a system design and methodology capable of autonomous navigation with real-time performance on a mobile processor using only onboard sensors (Fig. 1); where in this work autonomous navigation considers multi-floor mapping with loop closure, localization, planning, and control.