High‐speed autonomous obstacle avoidance with pushbroom stereo
Name
Barry16a.pdf
Description
Accepted version
Size
24.11 MB
Format
Adobe PDF
Checksum (MD5)
ef42cb0f7766199af3c4b6fd43ee55ad
Author(s)
Barry, Andrew J
Florence, Peter R
Tedrake, Russ
Date Issued
2018
Journal
Journal of Field Robotics
Publisher
Wiley
Version
Author's final manuscript
Abstract
© 2017 Wiley Periodicals, Inc. We present the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard GPS-denied sensing and computation, we perform obstacle detection, planning, and feedback control in real time. We present a novel integrated approach to perception and control using pushbroom stereo, which exploits forward motion to enable efficient obstacle detection and avoidance using lightweight processors on an unmanned aerial vehicle. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. We demonstrate a complete working system detecting obstacles at 120 Hz and avoiding trees at up to 14 m/s (31 MPH). To the best of our knowledge, this is the fastest lightweight aerial vehicle to perform collision avoidance using three-dimensional geometric information.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1002/ROB.21741
