High‐speed autonomous obstacle avoidance with pushbroom stereo
© 2017 Wiley Periodicals, Inc. We present the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard GPS-denied sensing and computation, we perform obstacle detection, planning, and feedback contro...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021
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| Online Access: | https://hdl.handle.net/1721.1/133998 |
| _version_ | 1811093784700649472 |
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| author | Barry, Andrew J Florence, Peter R Tedrake, Russ |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Barry, Andrew J Florence, Peter R Tedrake, Russ |
| author_sort | Barry, Andrew J |
| collection | MIT |
| description | © 2017 Wiley Periodicals, Inc. We present the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard GPS-denied sensing and computation, we perform obstacle detection, planning, and feedback control in real time. We present a novel integrated approach to perception and control using pushbroom stereo, which exploits forward motion to enable efficient obstacle detection and avoidance using lightweight processors on an unmanned aerial vehicle. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. We demonstrate a complete working system detecting obstacles at 120 Hz and avoiding trees at up to 14 m/s (31 MPH). To the best of our knowledge, this is the fastest lightweight aerial vehicle to perform collision avoidance using three-dimensional geometric information. |
| first_indexed | 2024-09-23T15:50:37Z |
| format | Article |
| id | mit-1721.1/133998 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T15:50:37Z |
| publishDate | 2021 |
| publisher | Wiley |
| record_format | dspace |
| spelling | mit-1721.1/1339982023-01-10T19:07:41Z High‐speed autonomous obstacle avoidance with pushbroom stereo Barry, Andrew J Florence, Peter R Tedrake, Russ Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory © 2017 Wiley Periodicals, Inc. We present the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard GPS-denied sensing and computation, we perform obstacle detection, planning, and feedback control in real time. We present a novel integrated approach to perception and control using pushbroom stereo, which exploits forward motion to enable efficient obstacle detection and avoidance using lightweight processors on an unmanned aerial vehicle. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. We demonstrate a complete working system detecting obstacles at 120 Hz and avoiding trees at up to 14 m/s (31 MPH). To the best of our knowledge, this is the fastest lightweight aerial vehicle to perform collision avoidance using three-dimensional geometric information. 2021-10-27T19:57:34Z 2021-10-27T19:57:34Z 2018 2019-07-15T16:52:40Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/133998 en 10.1002/ROB.21741 Journal of Field Robotics Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Wiley MIT web domain |
| spellingShingle | Barry, Andrew J Florence, Peter R Tedrake, Russ High‐speed autonomous obstacle avoidance with pushbroom stereo |
| title | High‐speed autonomous obstacle avoidance with pushbroom stereo |
| title_full | High‐speed autonomous obstacle avoidance with pushbroom stereo |
| title_fullStr | High‐speed autonomous obstacle avoidance with pushbroom stereo |
| title_full_unstemmed | High‐speed autonomous obstacle avoidance with pushbroom stereo |
| title_short | High‐speed autonomous obstacle avoidance with pushbroom stereo |
| title_sort | high speed autonomous obstacle avoidance with pushbroom stereo |
| url | https://hdl.handle.net/1721.1/133998 |
| work_keys_str_mv | AT barryandrewj highspeedautonomousobstacleavoidancewithpushbroomstereo AT florencepeterr highspeedautonomousobstacleavoidancewithpushbroomstereo AT tedrakeruss highspeedautonomousobstacleavoidancewithpushbroomstereo |