自研开源无人机平台实现野外自主空中抓取
An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild
- 仅用机载感知系统实现空中操作，无需外部定位设备
- 在室内外多种环境成功抓取不同物体，验证了实用性
- 开源软硬件，推动无人系统研究落地
空中操作结合了飞行平台的灵活性与移动操作的功能性，但需精确定位与控制，传统方法依赖昂贵且局限于特定室内环境的外部感知系统。本文提出一种新型平台，完全依靠机载感知系统，在多种室内外环境中实现自主空中抓取。实验表明，该平台可在无外部感知支持下完成对各类物体的自主抓取。这一进展显著提升了空中操作的可扩展性与实际应用价值，摆脱了高成本追踪系统的依赖。为促进后续研究，我们开源了ROS 2软件栈及定制硬件设计，使成果可被广泛复现与改进。
原文摘要 · Abstract (English)
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally, researchers have relied on offboard perception systems, which are limited to expensive and impractical specially equipped indoor environments. In this work, we introduce a novel platform for autonomous aerial manipulation that exclusively utilizes onboard perception systems. Our platform can perform aerial manipulation in various indoor and outdoor environments without depending on external perception systems. Our experimental results demonstrate the platform's ability to autonomously grasp various objects in diverse settings. This advancement significantly improves the scalability and practicality of aerial manipulation applications by eliminating the need for costly tracking solutions. To accelerate future research, we open source our ROS 2 software stack and custom hardware design, making our contributions accessible to the broader research community.
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