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Article: Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots
Title | Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots |
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Authors | |
Issue Date | 2021 |
Publisher | Institute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE |
Citation | IEEE Robotics and Automation Letters, Forthcoming How to Cite? |
Abstract | In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact, integrated, and fully autonomous quadrotor system, which can fly safely in cluttered environments while avoiding dynamic small obstacles. Our quadrotor platform is equipped with a forward-looking three-dimensional (3D) light detection and ranging (lidar) sensor to perceive the environment and an onboard embedded computer to perform all the estimation, mapping, and planning tasks. Specifically, the computer estimates the current pose of the UAV, maintains a local map (time-accumulated point clouds KD-Trees), and computes a safe trajectory using kinodynamic A* search to the goal point. The whole perception and planning system can run onboard at 50Hz with careful optimization. Various indoor and outdoor experiments show that the system can avoid dynamic small obstacles (down to 20mm diameter bar) while flying at 2m/s in cluttered environments. Our codes and hardware design are open-sourced on Github. |
Persistent Identifier | http://hdl.handle.net/10722/301646 |
ISSN | 2023 Impact Factor: 4.6 2023 SCImago Journal Rankings: 2.119 |
DC Field | Value | Language |
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dc.contributor.author | Kong, F | - |
dc.contributor.author | Xu, W | - |
dc.contributor.author | Zhang, F | - |
dc.date.accessioned | 2021-08-09T03:42:06Z | - |
dc.date.available | 2021-08-09T03:42:06Z | - |
dc.date.issued | 2021 | - |
dc.identifier.citation | IEEE Robotics and Automation Letters, Forthcoming | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10722/301646 | - |
dc.description.abstract | In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact, integrated, and fully autonomous quadrotor system, which can fly safely in cluttered environments while avoiding dynamic small obstacles. Our quadrotor platform is equipped with a forward-looking three-dimensional (3D) light detection and ranging (lidar) sensor to perceive the environment and an onboard embedded computer to perform all the estimation, mapping, and planning tasks. Specifically, the computer estimates the current pose of the UAV, maintains a local map (time-accumulated point clouds KD-Trees), and computes a safe trajectory using kinodynamic A* search to the goal point. The whole perception and planning system can run onboard at 50Hz with careful optimization. Various indoor and outdoor experiments show that the system can avoid dynamic small obstacles (down to 20mm diameter bar) while flying at 2m/s in cluttered environments. Our codes and hardware design are open-sourced on Github. | - |
dc.language | eng | - |
dc.publisher | Institute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE | - |
dc.relation.ispartof | IEEE Robotics and Automation Letters | - |
dc.rights | IEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers. | - |
dc.rights | ©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.title | Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots | - |
dc.type | Article | - |
dc.identifier.email | Zhang, F: fuzhang@hku.hk | - |
dc.identifier.authority | Zhang, F=rp02460 | - |
dc.identifier.hkuros | 324127 | - |
dc.identifier.volume | Forthcoming | - |
dc.publisher.place | United States | - |