摘要
无人机在未知环境中自主着陆是一项极具挑战性的任务。为解决这一问题,构建了安全高效的激光着陆系统。该系统基于激光和惯性测量单元(IMU)的感知信息获取定位数据,将点云投影到高程地图坐标系,并利用贝叶斯广义核高程推理法和改进的动态点更新算法,对稀疏的高程地图进行预测、填充和动态更新,从而生成稠密且信息全面的高程地图。随后,通过分析高程地图的地形几何参数,如倾斜度、粗糙度和阶跃度,生成可着陆性分析地图。接着,采用GPU(图形处理器)加速方法,从可着陆性地图中快速搜索出最安全的着陆位置。此外,针对靠近着陆点时激光定位可能退化的问题,提出了一种仅依靠单帧点云的避障策略,最终实现无人机安全着陆。经过多个复杂仿真环境和真实场景的测试验证,该方法均取得了优异的自主安全着陆效果。
The autonomous landing of drones in unknown environments poses a highly challenging task.To solve this problem,a safe and efficient LiDAR landing system is constructed.The proposed system leverages positioning data obtained from the perception information of LiDAR and the inertial measurement unit(IMU),projecting point clouds into an elevation map coordinate system.Utilizing Bayesian generalized kernel elevation inference and an enhanced dynamic point update algorithm,the system predicts,fills,and dynamically updates sparse elevation maps to generate dense and comprehensive elevation maps.Subsequently,a landability analysis map is generated through analyzing terrain geometric parameters in the elevation map such as slope,roughness,and step height.Then,the safest landing position is identified quickly from the landability analysis map by a GPU(graphics processing unit)acceleration method.In addition,an obstacle avoidance strategy based only on single frame point cloud is proposed to avoid the degradation of LiDAR localization near the landing point,and finally achieving the safe landing of the drones.The proposed method achieves excellent autonomous and safe landing results in tests in multiple complex simulation environments and real scenarios.
作者
王宁宁
仲训昱
谢涵
徐智凌
刘强
WANG Ningning;ZHONG Xunyu;XIE Han;XU Zhilin;LIU Qiang(School of Aerospace Engineering,Xiamen University,Xiamen 361102,China;Sichuan Institute of Xiamen University,Chengdu 610213,China;School of Engineering Mathematics and Technology,University of Bristol,Bristol BS81TH,U.K.)
出处
《机器人》
北大核心
2025年第3期448-458,共11页
Robot
基金
四川天府新区厦大研究院开放课题(202401YB005)
江西省重点研发计划(20232BBE50004).
关键词
无人机
自主着陆
可着陆性分析
GPU加速
drone
autonomous landing
landability analysis
GPU(graphics processing unit)acceleration
作者简介
通信作者:仲训昱(1980-),男,博士,副教授。研究领域:多模态融合环境感知、规划与决策,自主导航,智能机器人,人工智能与自动控制技术等。zhongxunyu@xmu.edu.cn;王宁宁(1999-),男,硕士生。研究领域:多模态融合环境感知,无人机自主导航。
