搭载5自由度金属探测器的无人机的弹性地形导航
Resilient Terrain Navigation with a 5 DOF Metal Detector Drone
AI总结：
针对微型飞行器搭载金属探测器开展地雷勘测需先进飞行能力的问题，提出搭载5自由度金属探测器的自主无人机系统，结合滚动时域规划与多传感器融合定位，在复杂地形实现高效精准的埋藏金属物自主测绘。
摘要：
微型飞行器（MAV）具备开展自主非接触式陆地勘测以探测地雷与战争遗留爆炸物（ERW）的潜力。金属探测器是标准探测工具，但必须在靠近地形且与地形平行的状态下操作。此前尚未出现MAV与金属探测器的成功结合方案，因为这需要先进的飞行能力。为此，我们提出了一种自主系统，使用搭载在5自由度（DOF）MAV上的金属探测器勘测具有挑战性的起伏地形。基于对地形的在线估计，我们的滚动时域规划器可高效覆盖区域，使探测器与地表对齐，同时考虑平台的运动学和可见性约束。由于勘测需要在多样地形中实现弹性且精准的定位，我们还提出了一种基于因子图的GNSS、IMU和LiDAR测量值在线融合方法。我们通过在树冠下和无特征田野上空飞行，验证了该方案在单个传感器退化情况下的鲁棒性。仿真消融研究表明，所提出的规划器缩短了覆盖时长并提升了轨迹平滑度。真实飞行实验展示了系统在起伏且有障碍物的地形中对埋藏金属物体的自主测绘能力。
英文摘要：
Micro aerial vehicles (MAVs) hold the potential for performing autonomous and contactless land surveys for the detection of landmines and explosive remnants of war (ERW). Metal detectors are the standard detection tool but must be operated close to and parallel to the terrain. A successful combination of MAVs with metal detectors has not been presented yet, as it requires advanced flight capabilities. To this end, we present an autonomous system to survey challenging undulated terrain using a metal detector mounted on a 5 degrees of freedom (DOF) MAV. Based on an online estimate of the terrain, our receding-horizon planner efficiently covers the area, aligning the detector to the surface while considering the kinematic and visibility constraints of the platform. As the survey requires resilient and accurate localization in diverse terrain, we also propose a factor graph-based online fusion of GNSS, IMU, and LiDAR measurements. We validate the robustness of the solution to individual sensor degeneracy by flying under the canopy of trees and over featureless fields. A simulated ablation study shows that the proposed planner reduces coverage duration and improves trajectory smoothness. Real-world flight experiments showcase autonomous mapping of buried metallic objects in undulated and obstructed terrain.
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。
