BatDeck：利用基于低功耗超声波的避障推进纳米无人机导航
BatDeck: Advancing Nano-drone Navigation with Low-power Ultrasound-based Obstacle Avoidance
AI总结：
本文提出轻量低功耗超声波传感器甲板 BatDeck，通过分析电机噪声影响并开展多环境避障实验，验证其可提升纳米无人机在透明、反射障碍场景中的自主导航能力。
摘要：
纳米无人机以其敏捷性、极轻重量和成本效益而著称，特别适合在受限、杂乱和狭窄的空间中进行探索。识别透明、高反射或吸收性材料（例如玻璃和金属表面）具有挑战性，因为相机或激光测距仪等传统传感器通常无法检测到它们。受蝙蝠能够在完全黑暗中借助超声波高速飞行的启发，本文介绍了 BatDeck，这是一种开创性的传感器甲板，采用轻量级、低功耗的超声波传感器，用于纳米无人机自主导航。本文首先给出了关于传感器特性的洞见，强调了电机噪声对超声波读数的影响，随后介绍了在多样化环境中针对避障（OA）进行的大量实验测试结果。结果表明，BatDeck 在包含透明和反射障碍物的挑战性环境中可实现8分钟飞行探索，并且在坠机前平均覆盖136米，证明了超声波传感器在纳米无人机上用于避障的有效性。
英文摘要：
Nano-drones, distinguished by their agility, minimal weight, and cost-effectiveness, are particularly well-suited for exploration in confined, cluttered and narrow spaces. Recognizing transparent, highly reflective or absorbing materials, such as glass and metallic surfaces is challenging, as classical sensors, such as cameras or laser rangers, often do not detect them. Inspired by bats, which can fly at high speeds in complete darkness with the help of ultrasound, this paper introduces \textit{BatDeck}, a pioneering sensor-deck employing a lightweight and low-power ultrasonic sensor for nano-drone autonomous navigation. This paper first provides insights about sensor characteristics, highlighting the influence of motor noise on the ultrasound readings, then it introduces the results of extensive experimental tests for obstacle avoidance (OA) in a diverse environment. Results show that \textit{BatDeck} allows exploration for a flight time of 8 minutes while covering 136m on average before crash in a challenging environment with transparent and reflective obstacles, proving the effectiveness of ultrasonic sensors for OA on nano-drones.
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。
