基于视觉的安全自主无人机与全景传感器对接.
Phuoc Thuan Nguyen1,2, Tomi Westerlund1, Jorge Peña Queralta1
1Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Turku, Finland.
Frontiers in robotics and AI
|December 11, 2023
概括
本研究介绍了一种基于视觉的系统,用于安全的无人机着陆. 一个向上的摄像头检测人,使自主无人机能够在最小的基础设施下安全着陆.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 航空航天工程 航空航天工程
背景情况:
- 无人驾驶飞行器 (UAV) 的普及需要加强安全协议,特别是在自主降落操作期间.
- 无人机在对接机动作期间对其附近的个人构成潜在风险.
- 现有的安全措施往往需要大量的基础设施,这限制了广泛采用.
研究的目的:
- 用最小的基础设施开发基于视觉的系统,用于安全的自主无人机着陆.
- 为了检测和定位着陆区域的人,使用面向上方的全向摄像头.
- 为了实现与无人机的实时通信,以进行动态的着陆状态调整.
主要方法:
- 使用了一个单一的全方位全景摄像头,放置在着陆台上,指向上方.
- 采用YOLOv7对象检测模型来识别人员和XGBoost模型用于定位.
- 集成开源机器人操作系统 (ROS) 和PX4自动驾驶框架用于无人机通信和控制.
- 在嵌入式计算机上实现实时图像处理.
主要成果:
- 证明了系统能够检测和估计着陆区内人员的位置.
- 成功启用实时通信,使无人机在降落,悬浮和紧急降落状态之间进行过渡.
- 展示了系统在模拟和现实室内实验环境中的有效性.
- 验证了系统在关键情况下 (如电池耗尽) 帮助找到最佳着陆位置的能力.
结论:
- 拟议的基于视觉的系统显著提高了自主无人机着陆的安全性.
- 最小的基础设施要求使该解决方案适用于各种部署场景.
- 实时检测和通信对于空中机器人安全的人机交互至关重要.
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