面向火星同轴四旋翼飞行器在火星熔岩管中实现能量高效自主探索
Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor
AI总结：
本文针对火星熔岩管探索，提出一种基于改进前沿方法、风险感知规划与三层代价全局重定位的自主探索框架，通过火星同轴四旋翼飞行器仿真验证其能量高效性和探索效率。
摘要：
自火星直升机“机智号”成功进行飞行演示以来，利用空中飞行器对火星地形进行测绘与探索已成为一个新兴的研究方向。尽管当前最先进的火星直升机在开放环境中已证明其自主性与导航能力的高效性，但火星上下一阶段的探索重点将是洞穴或古代熔岩管类环境，尤其是为了在其他行星上永不停歇地寻找生命。本文提出了一种自主探索任务方案，该方案基于改进的前沿方法，并结合风险感知规划与集成式避碰策略，特别关注定制设计的火星同轴四旋翼飞行器（MCQ）在火星模拟熔岩管中的能量问题。本文最大的创新点之一在于解决探索能力问题：在局部区域快速探索的同时，当MCQ到达死胡同时进行智能全局重定位，从而高效利用电池消耗的能量，并扩大探索体积。所提出的三层代价全局重定位点选择方法有助于将MCQ快速重新引导至此前仅部分可见的区域，这些区域可能通向熔岩管中更多尚未探索的部分。本文所展示的火星全仿真任务考虑了火星物理条件的高保真度，包括稀薄大气、低表面气压和低重力，同时证明了所提方案在探索此类类地下环境中特别具有挑战性的区域时的有效性。所提出的探索规划框架还通过与基于图的探索规划器进行仿真对比得到了验证。
英文摘要：
Mapping and exploration of a Martian terrain with an aerial vehicle has become an emerging research direction, since the successful flight demonstration of the Mars helicopter Ingenuity. Although the autonomy and navigation capability of the state of the art Mars helicopter has proven to be efficient in an open environment, the next area of interest for exploration on Mars are caves or ancient lava tube like environments, especially towards the never-ending search of life on other planets. This article presents an autonomous exploration mission based on a modified frontier approach along with a risk aware planning and integrated collision avoidance scheme with a special focus on energy aspects of a custom designed Mars Coaxial Quadrotor (MCQ) in a Martian simulated lava tube. One of the biggest novelties of the article stems from addressing the exploration capability, while rapidly exploring in local areas and intelligently global re-positioning of the MCQ when reaching dead ends in order to to efficiently use the battery based consumed energy, while increasing the volume of the exploration. The proposed three layer cost based global re-position point selection assists in rapidly redirecting the MCQ to previously partially seen areas that could lead to more unexplored part of the lava tube. The Martian fully simulated mission presented in this article takes into consideration the fidelity of physics of Mars condition in terms of thin atmosphere, low surface pressure and low gravity of the planet, while proves the efficiency of the proposed scheme in exploring an area that is particularly challenging due to the subterranean-like environment. The proposed exploration-planning framework is also validated in simulation by comparing it against the graph based exploration planner.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
