全向固态毫米波雷达感知用于无人机架空线路避撞
Omnidirectional Solid-State mmWave Radar Perception for UAV Power Line Collision Avoidance
AI总结：
本文提出了一种基于固态毫米波雷达的全向感知系统，用于无人机架空线路的可靠检测与避撞，实验显示其在10米范围内可检测1.2毫米直径的电线并实现高速避撞。
摘要：
检测和估计电力线的距离是人类无人机飞行员和自主系统面临的挑战，这会增加意外碰撞的风险。我们提出了一种基于毫米波雷达的感知系统，为小型无人机提供全方位的感知覆盖，以实现可靠的电力线检测和避撞。该系统集成了多个紧凑型固态毫米波雷达模块，以合成全方位的视野，同时保持轻量化。我们表征了这种全方位雷达配置在电力线环境中的传感行为，并开发了针对该行为的鲁棒检测和避撞算法。在真实电力线上的实地实验显示，该系统在10米范围内能够可靠检测，以超过10米/秒的飞行速度成功避撞，且能检测到直径为1.2毫米的电线。这些结果表明，该方法适用于为自主和手动无人机飞行提供额外的安全层。
英文摘要：
Detecting and estimating distances to power lines is a challenge for both human UAV pilots and autonomous systems, which increases the risk of unintended collisions. We present a mmWave radar-based perception system that provides spherical sensing coverage around a small UAV for robust power line detection and avoidance. The system integrates multiple compact solid-state mmWave radar modules to synthesize an omnidirectional field of view while remaining lightweight. We characterize the sensing behavior of this omnidirectional radar arrangement in power line environments and develop a robust detection-and-avoidance algorithm tailored to that behavior. Field experiments on real power lines demonstrate reliable detection at ranges up to 10 m, successful avoidance maneuvers at flight speeds upwards of 10 m/s, and detection of wires as thin as 1.2 mm in diameter. These results indicate the approach's suitability as an additional safety layer for both autonomous and manual UAV flight.
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。
