项目名称: 基于立体视觉的微型扑翼机器人的自主飞行控制
项目编号: No.61473285
项目类型: 面上项目
立项/批准年度: 2015
项目学科: 自动化技术、计算机技术
项目作者: 姜哲
作者单位: 中国科学院数学与系统科学研究院
项目金额: 82万元
中文摘要: 微型扑翼机器人(FWMAVs)在未知环境中的自主飞行控制仍是机器人研究领域的一个重大挑战之一。本项目在已取得了的成果基础上,研究带有立体视觉的微型扑翼机器人如何获取空间位姿信息。由于传统的惯性测量单元受负载能力的限制,不能被安装到机载控制器上。因此本项目采用外部立体视觉系统来解决微型扑翼机器人的导航问题。此外,通过引入了一种新的立体视觉算法-半全局匹配算法,用于平衡扑翼运动中计算复杂性与图像帧数之间的矛盾,从而进一步实现FWMAV的全自主飞行。
中文关键词: 扑翼微型机器人;立体视觉;自主飞行控制
英文摘要: Autonomous flight of Flapping Wing Micro Air Vehicles (FWMAVs) is a major challenge in the field of robotics in unknown environments. This proposal investigates the potential to acquire flight information, including the spatial position and attitude, of a FWMAV with onboard stereo vision processing system. Due to limited loading capacity, a conventional inertia measurement unit cannot be installed onboard. As a result, an external stereo-vision system is a potential solution to navigate a FWMAV. In addition, we introduce a novel stereo vision algorithm, Semi-Global Matching algorithm, designed specifically to cope with the flapping motion and the desire to attain a computational effort tuned to the frame rate. The onboard stereo vision system is illustrated in the context of an obstacle avoidance task in an unknown environment with sparse obstacles and further used to realize fully autonomous flight of a FWMAV.
英文关键词: Flapping Wing Micro Aerical Vehicle;Stereo Vision;Autonomous Flight Control