arXiv 2410.096062024-10-12cs.RO

用于GNSS拒止海洋环境的UAV-六足机器人协同团队自主回收系统

A Collaborative Team of UAV-Hexapod for an Autonomous Retrieval System in GNSS-Denied Maritime Environments

School of Electrical Engineering, Korea Advanced Institute of Science and Technology（韩国科学技术院电气工程学院）

Seungwook Lee, Maulana Bisyir Azhari, Gyuree Kang, Ozan Günes, Donghun Han, David Hyunchul Shim

AI总结：

提出一种用于GNSS拒止海洋环境的UAV-六足机器人协同系统，通过UAV绞盘机制实现自主部署与回收，结合光流、LiDAR和深度数据传感器融合精确定位，并在MBZIRC 2023 Maritime Challenge现场测试中验证了其有效性。

摘要：

我们提出了一种专为GNSS拒止海洋作业设计的集成UAV-六足机器人系统，能够通过安装在UAV上的绞盘机制自主部署和回收六足机器人。该系统旨在解决动态海洋环境中的定位、控制和移动性挑战。我们的解决方案利用传感器融合技术，结合光流、LiDAR和深度数据进行精确定位。实验结果证明了该系统在真实场景中的有效性，在MBZIRC 2023 Maritime Challenge的受控和实际条件下的现场测试中验证了其性能。

英文摘要：

We present an integrated UAV-hexapod robotic system designed for GNSS-denied maritime operations, capable of autonomous deployment and retrieval of a hexapod robot via a winch mechanism installed on a UAV. This system is intended to address the challenges of localization, control, and mobility in dynamic maritime environments. Our solution leverages sensor fusion techniques, combining optical flow, LiDAR, and depth data for precise localization. Experimental results demonstrate the effectiveness of this system in real-world scenarios, validating its performance during field tests in both controlled and operational conditions in the MBZIRC 2023 Maritime Challenge.

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。