Vision-Controlled Micro Flying Robots: From System Design to Autonomous Navigation and Mapping in GPS-Denied Environments
| العنوان: | Vision-Controlled Micro Flying Robots: From System Design to Autonomous Navigation and Mapping in GPS-Denied Environments |
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| المؤلفون: | Petri Tanskanen, Friedrich Fraundorfer, Laurent Kneip, Lorenz Meier, Alessandro Renzaglia, Roland Siegwart, Markus W. Achtelik, Gim Hee Lee, Lionel Heng, Elias B. Kosmatopoulos, Margarita Chli, Chiara Troiani, Jan Stumpf, Savvas A. Chatzichristofis, Agostino Martinelli, Marc Pollefeys, Davide Scaramuzza, Lefteris Doitsidis, Daniel Gurdan, Michael Achtelik, Stephan Weiss, Simon Lynen |
| المساهمون: | University of Zurich, Scaramuzza, Davide |
| المصدر: | IEEE Robotics & Automation Magazine. 21:26-40 |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2014. |
| سنة النشر: | 2014 |
| مصطلحات موضوعية: | Engineering, 10009 Department of Informatics, business.industry, 2208 Electrical and Electronic Engineering, Real-time computing, 2207 Control and Systems Engineering, Mobile robot, Robotics, 000 Computer science, knowledge & systems, Mobile robot navigation, Computer Science Applications, Control and Systems Engineering, Inertial measurement unit, 1706 Computer Science Applications, Global Positioning System, Robot, Onboard camera, Artificial intelligence, Electrical and Electronic Engineering, business, Search and rescue, Simulation |
| الوصف: | Autonomous microhelicopters will soon play a major role in tasks like search and rescue, environment monitoring, security surveillance, and inspection. If they are further realized in small scale, they can also be used in narrow outdoor and indoor environments and represent only a limited risk for people. However, for such operations, navigating based only on global positioning system (GPS) information is not sufficient. Fully autonomous operation in cities or other dense environments requires microhelicopters to fly at low altitudes, where GPS signals are often shadowed, or indoors and to actively explore unknown environments while avoiding collisions and creating maps. This involves a number of challenges on all levels of helicopter design, perception, actuation, control, and navigation, which still have to be solved. The Swarm of Micro Flying Robots (SFLY) project was a European Union-funded project with the goal of creating a swarm of vision-controlled microaerial vehicles (MAVs) capable of autonomous navigation, three-dimensional (3-D) mapping, and optimal surveillance coverage in GPS-denied environments. The SFLY MAVs do not rely on remote control, radio beacons, or motion-capture systems but can fly all by themselves using only a single onboard camera and an inertial measurement unit (IMU). This article describes the technical challenges that have been faced and the results achieved from hardware design and embedded programming to vision-based navigation and mapping, with an overview of how all the modules work and how they have been integrated into the final system. Code, data sets, and videos are publicly available to the robotics community. Experimental results demonstrating three MAVs navigating autonomously in an unknown GPS-denied environment and performing 3-D mapping and optimal surveillance coverage are presented. |
| وصف الملف: | RAM14_scaramuzza.pdf - application/pdf |
| تدمد: | 1558-223X 1070-9932 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f4d6b80a940ed3da8340fb6123f51a0e https://doi.org/10.1109/mra.2014.2322295 |
| حقوق: | RESTRICTED |
| رقم الأكسشن: | edsair.doi.dedup.....f4d6b80a940ed3da8340fb6123f51a0e |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 1558223X 10709932 |
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