用于MAV反应式避障的低延迟无地图ESDF查询
Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance
AI总结：
针对MAV反应式避障的近场短 horizon 场景，提出GPU加速无地图ESDF查询，集成到MPC后在森林模拟与实地飞行中均实现低碰撞率，性能优于体素网格及同类无地图基线。
摘要：
在未知杂乱环境中，反应式避障需在毫秒级内感知障碍物并修正运动。现有方法依赖地图进行高频碰撞查询，但其加速结构需要预处理，该成本在长 horizon 规划中可通过数百万次查询分摊；然而反应式规划是近场短 horizon 问题，每次测量可能仅需数百次查询，构建地图可能得不偿失。我们提出一种无地图、图形处理器（GPU）加速的欧几里得有符号距离场（ESDF）查询，预处理可忽略不计，直接基于位姿深度图像运行，分辨率通过池化图像而非体素大小设置。在嵌入式GPU上，其精度高于我们测量的2cm至20cm间所有体素网格配置，总延迟更低，匹配分辨率下内存用量少1至2个数量级。将该查询集成到模型预测控制器（MPC）后，在激光扫描森林中以最高9m/s速度进行的模拟运行中，密集树枝碰撞率为0.4%，而最佳体素网格的碰撞率为5.9%，最佳无地图基线（分辨率与 ours 匹配）的碰撞率为5.5%，其失败原因分别为体素分辨率和总延迟。我们将该系统部署到两个森林现场的机载平台，以最高4m/s的指令速度飞行。
英文摘要：
Reactive collision avoidance in unknown, cluttered environments must perceive obstacles and correct motion within milliseconds. Existing methods rely on maps for high-rate collision queries, but their acceleration structures require pre- processing. That cost is amortized in long-horizon planning, where a map serves millions of queries; reactive planning, however, is a near-field, short-horizon problem with potentially only hundreds of queries per measurement, where building a map may not pay off. We propose a mapless, Graphics Processing Unit (GPU)-accelerated Euclidean Signed Distance Field (ESDF) query with negligible pre-processing that operates directly on posed depth images, with resolution set by pooling the image rather than by a voxel size. On an embedded GPU it is simultaneously more accurate and lower in total latency than every voxel-grid configuration we measured between 2 cm and 20 cm, at one to two orders of magnitude less memory at matched resolution. With our query integrated into a Model Predictive Controller (MPC), simulated runs in laser-scanned forests at up to 9 m/s collide in 0.4 % through dense branches, against 5.9 % with the best voxel grid and 5.5 % with the best mapless baseline at our resolution, whose failures we attribute to voxel resolution and total latency respectively. We deploy the system onboard at two forest sites and fly at commanded speeds of up to 4 m/s.
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