Contact-based navigation for an autonomous flying robot
Contact-based navigation for an autonomous flying robot
复制标题
自主飞行机器人的基于接触的导航
DOI：
--
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
D. Floreano
中科院分区：
文献类型：
--
作者：
A. Briod;P. Kornatowski;A. Klaptocz;Arnaud Garnier;Marco Pagnamenta;J. Zufferey;D. Floreano
在障碍密集的室内环境中自主导航对飞行机器人来说是非常具有挑战性的，因为碰撞的风险很高，可能会导致平台机械损坏，最终导致任务失败。虽然自主导航的传统方法倾向于避障策略，但最近的研究表明，耐碰撞的飞行机器人可以在不打破障碍的情况下撞到障碍物，甚至在坠落到地面后自我恢复。这种方法对于在碰撞不可避免的复杂环境中的自主导航特别有趣，或者对于降低避障涉及的感知和控制复杂性特别感兴趣。本文的目的是展示抗碰撞平台可以更进一步，利用与环境的接触来实现基于触觉的有用导航任务。当重量限制阻止使用较重的传感器时，或者作为补充其他传感模式的低水平检测机制，这种方法通常是有用的。本文提出了一种基于力和惯性传感器的机器人周围障碍物检测的解决方案。8个微型力传感器，每个重0.9g，集成在一个耐撞飞行平台的结构中，而不影响其稳健性。一项概念验证实验演示了使用接触感应在3D中自主探索房间，与以前的策略相比显示出显著的优势。据我们所知，这是第一个完全自主的飞行机器人，只使用触摸传感器作为外部感知传感器。
Autonomous navigation in obstacle-dense indoor environments is very challenging for flying robots due to the high risk of collisions, which may lead to mechanical damage of the platform and eventual failure of the mission. While conventional approaches in autonomous navigation favor obstacle avoidance strategies, recent work showed that collision-robust flying robots could hit obstacles without breaking and even self-recover after a crash to the ground. This approach is particularly interesting for autonomous navigation in complex environments where collisions are unavoidable, or for reducing the sensing and control complexity involved in obstacle avoidance. This paper aims at showing that collision-robust platforms can go a step further and exploit contacts with the environment to achieve useful navigation tasks based on the sense of touch. This approach is typically useful when weight restrictions prevent the use of heavier sensors, or as a low-level detection mechanism supplementing other sensing modalities. In this paper, a solution based on force and inertial sensors used to detect obstacles all around the robot is presented. Eight miniature force sensors, weighting 0.9g each, are integrated in the structure of a collision-robust flying platform without affecting its robustness. A proof-of-concept experiment demonstrates the use of contact sensing for exploring autonomously a room in 3D, showing significant advantages compared to a previous strategy. To our knowledge this is the first fully autonomous flying robot using touch sensors as only exteroceptive sensors.