期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 7, 期 2, 页码 3008-3015出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3145505
关键词
Aerial systems: applications; autonomous vehicle navigation; motion and path planning
类别
资金
- National Natural Science Foundation of China [62003299, 62088101]
This paper presents an autonomous and adaptive navigation framework for terrestrial-aerial bimodal vehicles, enabling complete autonomy and improved performance through the generation of safe and low-power trajectories in unknown environments and dynamic energy consumption adjustments. Real-world experiments demonstrate the framework's robustness and energy-saving capabilities.
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the highmobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive navigation framework to bring complete autonomy to this class of vehicles. The framework mainly includes 1) a hierarchical motion planner that generates safe and low-power terrestrial-aerial trajectories in unknown environments and 2) a unified motion controller which dynamically adjusts energy consumption in terrestrial locomotion. Extensive real-world experiments and benchmark comparisons are conducted on a customized robot platform to validate the proposed framework's robustness and performance. During the tests, the robot safely traverses complex environments with terrestrial-aerial integrated mobility, and achieves 7x energy savings in terrestrial locomotion. Finally, we will release our code and hardware configuration for the reference of the community.
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