Multilayered Mapping and Navigation for Autonomous Micro Aerial Vehicles
Multilayered Mapping and Navigation for Autonomous Micro Aerial Vehicles
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DOI：
10.1002/rob.21603
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发表时间：
2016-06-01
影响因子：
8.3
通讯作者：
Behnke, Sven
中科院分区：
文献类型：
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作者：
Droeschel, David;Nieuwenhuisen, Matthias;Behnke, Sven
微型飞行器，如多旋翼飞行器，特别适合于建筑物的自主监测、检查和监视，例如维护或灾害管理。微型飞行器完全自主运行的关键先决条件是实时障碍物检测和无碰撞轨迹规划。在本文中，我们提出了一个完整的系统，包括一个三维（3D）激光扫描仪，两个立体相机对和超声波距离传感器组成的多模态传感器设置，用于全方位障碍物感知。检测到的障碍物被聚合到以自我为中心的局部多分辨率网格图中。局部地图被有效地合并，以便同时构建环境的全局地图并在这些地图上进行定位。对于自主导航，我们采用多层方法生成轨迹：从全局和局部轨迹规划的任务规划到反应性避障。我们在仿真和真实的自主微型飞行器中评估了我们的方法和所涉及的组件。最后，我们展示了一个完整任务的结果，用于自动绘制建筑物及其周围环境。(C) 2015 Wiley期刊公司
Micro aerial vehicles, such as multirotors, are particularly well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for maintenance or disaster management. Key prerequisites for the fully autonomous operation of micro aerial vehicles are real-time obstacle detection and planning of collision-free trajectories. In this article, we propose a complete system with a multimodal sensor setup for omnidirectional obstacle perception consisting of a three-dimensional (3D) laser scanner, two stereo camera pairs, and ultrasonic distance sensors. Detected obstacles are aggregated in egocentric local multiresolution grid maps. Local maps are efficiently merged in order to simultaneously build global maps of the environment and localize in these. For autonomous navigation, we generate trajectories in a multilayered approach: from mission planning over global and local trajectory planning to reactive obstacle avoidance. We evaluate our approach and the involved components in simulation and with the real autonomous micro aerial vehicle. Finally, we present the results of a complete mission for autonomously mapping a building and its surroundings. (C) 2015 Wiley Periodicals, Inc.