HUNTER: Highlight the Unexpected with Navigation Through Extreme Regions

猎人：通过极端区域的导航突出意外情况

• 批准号: 577239-2022
• 负责人: Pomerleau, FrançoisF
• 金额: $ 3.28万
• 依托单位: Université Laval
• 依托单位国家: 加拿大
• 项目类别: Alliance Grants
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=757332
• 关键词: HUNTER; Highlight; Unexpected; Navigation; Through

In the 2019 Special Report on the Ocean and Cryosphere in a Changing Climate, the Intergovernmental Panel on Climate Change (IPCC) states that climate change adaptation implies dealing with the uncertainty of increasing extreme meteorological events. Moreover, there is evidence that the decline of the Arctic sea ice led to an increase in heavy snowfall events in the Northern Hemisphere. Finally, improving perception algorithms for autonomous navigation in poor weather conditions is currently an open challenge. Experiments supporting the creation of such algorithms require safe access to an area with a high probability of snowfall, specialized robotic equipment, and large scientific expertise on autonomous navigation that is difficult to find within a single laboratory.The University of Toronto has well-established expertise in state-estimation theory and camera-based navigation solutions for autonomous vehicles. Led by Professor Barfoot, many innovative applications and key scientific publications were achieved in the last two decades by combining complex field deployments of robots and solid theoretical background. In recent years, the laboratory started to investigate the use of radar as a substitute for cameras for localization. Radar has the key advantage of being able to perceive obstacles through heavy snowfall, at the cost of more uncertainty of measurements.Laval University has emerging expertise in autonomous navigation in the cryosphere with the creation of the Northern Robotics Laboratory three years ago. Through strategic infrastructure investments and long-term collaborations with industrial partners, the laboratory, led by professors Pomerleau and Giguère, has access to a large-scale autonomous ground vehicle capable of navigation over deep snow covers. Through key publications and international accolades, François Pomerleau has established expertise in lidar-based navigation algorithms, which complements the co-applicant expertise well. Finally, the university owns a research forest of 250 square kilometres over which six meters of snow are falling every year. This installation is equipped to accommodate researchers for many days and is the centerpiece of this collaborative research program.By combining the strengths of this interprovincial team, this research program aims at validating autonomous navigation solutions for off-road navigation in winter conditions. By combining strong theoretical foundations with experimental evidence based on large-scale field deployments, it will be possible to discover robust algorithms against the large uncertainty that winter conditions produce. Outcomes of this program will augment the international visibility of both institutions on autonomy in harsh weather conditions. Moreover, the expertise will support policymakers for the adoption of autonomous cars on our roads, while augmenting the accessibility of autonomous vehicles to Northern communities.

政府间气候变化专门委员会（IPCC）在《2019年气候变化中的海洋和冰冻圈特别报告》中指出，适应气候变化意味着应对日益增加的极端气象事件的不确定性。此外，有证据表明，北极海冰的减少导致了北方半球大雪事件的增加。最后，在恶劣天气条件下改进自主导航的感知算法目前是一个公开的挑战。支持创建此类算法的实验需要安全进入降雪概率高的区域、专门的机器人设备以及难以在单个实验室内找到的大量自主导航科学专业知识。多伦多大学在状态估计理论和基于摄像头的自主车辆导航解决方案方面拥有成熟的专业知识。在Barfoot教授的带领下，在过去二十年中，通过将机器人的复杂现场部署和坚实的理论背景相结合，实现了许多创新应用和关键科学出版物。近年来，该实验室开始研究使用雷达作为相机的替代品进行定位。雷达的关键优势是能够通过大雪感知障碍物，代价是测量的不确定性更大。随着三年前北方机器人实验室的创建，拉瓦尔大学在冰冻圈自主导航方面拥有新兴的专业知识。通过战略基础设施投资和与工业合作伙伴的长期合作，由Pomerleau和Giguère教授领导的实验室可以使用能够在深积雪上导航的大型自主地面车辆。通过主要出版物和国际赞誉，François Pomerleau在基于激光雷达的导航算法方面建立了专业知识，这很好地补充了共同申请人的专业知识。最后，该大学拥有一个250平方公里的研究森林，每年降雪6米。该装置可供研究人员使用数天，是该合作研究项目的核心。该研究项目结合了这支跨省市团队的优势，旨在验证冬季越野导航的自主导航解决方案。通过将强大的理论基础与基于大规模实地部署的实验证据相结合，将有可能发现针对冬季条件产生的巨大不确定性的鲁棒算法。这一计划的成果将提高这两个机构在恶劣天气条件下的自主性方面的国际知名度。此外，这些专业知识将支持政策制定者在我们的道路上采用自动驾驶汽车，同时增加自动驾驶汽车对北方社区的可达性。