开发飞机器人和基于视觉的避难障碍战略
Heetae Park1, Geunsik Bae2, Inrae Kim1
1Department of Aerospace Engineering, Chungnam National University, Daejeon, Republic of Korea.
PeerJ. Computer science
|June 22, 2023
概括
研究人员开发了CNUX Mini,这是一款轻量级的飞机器人,能够稳定飞行和自主避开障碍物. 这种机器人非常适合搜索和侦察任务.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 航空航天工程 航空航天工程
- 计算机视觉 计算机视觉
背景情况:
- 挥舞翅膀机器人提供了小尺寸和低噪音等优势,使其适合搜索和侦察.
- 现有的研究往往优先考虑机器人开发,而不是自主飞行能力.
- 由于独特的空气动力学挑战,翼机器人和自主飞行系统的同时开发至关重要.
研究的目的:
- 开发一种具有稳定的飞行特征的轻量级飞机器人.
- 创建一个基于视觉的,计算效率高的,用于自主导航的避难障碍算法.
- 为了应对飞行过程中动作模糊和无特征图像的挑战.
主要方法:
- 开发了CNUX Mini,这是一款27厘米,45克重的飞机器人,配备X型翅膀和尾巴以保持稳定.
- 实施了一种基于光流的障碍物检测算法,其中包含了外观变化线索.
- 利用状态机器逻辑在直飞过程中执行避障机动.
主要成果:
- CNUX Mini在经过控制的方向变化的情况下,在1.5分钟内表现出稳定的飞行.
- 在模拟的障碍场景中,避障算法在模拟障碍场景中取得了90.2%的成功率.
- 该系统在地面测试中证明了对运动模糊和无特征图像的稳定性.
结论:
- CNUX Mini机器人的集成系统及其基于视觉的避障算法对自动飞行是有效的.
- 这项技术对未来的搜索和侦察应用具有重大潜力.
- 进一步的研究可以为更复杂的环境增强自主能力.
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