基于集成机载感知与计算的昆虫尺度扑翼机器人受控飞行
Controlled Flight of an Insect-Scale Flapping-Wing Robot via Integrated Onboard Sensing and Computation
AI总结：
本研究提出了一种1.29克的昆虫尺度扑翼机器人，通过集成机载感知与计算实现自主飞行，展示了厘米级定位精度和避障能力。
摘要：
空中昆虫可以轻松在密集植被中导航，而同样大小的空中机器人通常依赖机外传感器和计算来维持稳定飞行。这种差异限制了昆虫尺度机器人只能在动作捕捉环境中操作，大大限制了其在搜索与救援和精准农业等任务中的应用。在本工作中，我们提出了一种1.29克的空中机器人，能够仅依靠机载感知和计算实现悬停和轨迹跟踪。传感器套件、估计器和低层控制器的结合实现了厘米级的位置飞行精度。此外，我们开发了一种分层控制器，其中人类操作员提供高层命令以指导机器人的运动。在一次30秒的飞行实验中，该机器人在非动作捕捉系统外避开了障碍物，并最终降落在向日葵上。这种感知和计算自主性代表了空中微机器人领域的重要进展，进一步开拓了机载规划和能源自主性的探索机会。
英文摘要：
Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation within motion capture environments, substantially limiting their applicability to tasks such as search-and-rescue and precision agriculture. In this work, we present a 1.29-gram aerial robot capable of hovering and tracking trajectories with solely onboard sensing and computation. The combination of a sensor suite, estimators, and a low-level controller achieved centimeter-scale positional flight accuracy. Additionally, we developed a hierarchical controller in which a human operator provides high-level commands to direct the robot's motion. In a 30-second flight experiment conducted outside a motion capture system, the robot avoided obstacles and ultimately landed on a sunflower. This level of sensing and computational autonomy represents a significant advancement for the aerial microrobotics community, further opening opportunities to explore onboard planning and power autonomy.
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