Integrated perception and control at high speed
Name
986497522-MIT.pdf
Description
Full printable version
Size
15.94 MB
Format
Adobe PDF
Checksum (MD5)
dedecdd1544de17040b8af433927da9a
Author(s)
Florence, Peter R. (Peter Raymond)
Advisor(s)
Russ Tedrake.
Date Issued
2017
Publisher
Massachusetts Institute of Technology
Abstract
We present a method for robust high-speed quadrotor flight through unknown cluttered environments using integrated perception and control. Motivated by experiments in which the difficulty of accurate state estimation was a primary limitation on speed, our method forgoes maintaining a map in favor of using only instantaneous depth information in the local frame. This provides robustness in the presence of significant state estimate uncertainty. We compare the method against a benchmark approach using a simulated quadrotor race through a forest at high speeds in the presence of increasing state estimate noise. We then present hardware validation experiments in both indoor and outdoor environments, performing robust obstacle avoidance at speeds of up to 10 m/s, including sustained flight through a forest at 6 m/s. Finally, we add to the memoryless method, and develop a robust obstacle avoidance approach that uses memory without resorting to a maximum-likelihood mapping framework.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2017.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 101-110).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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