无人机在无GPS环境下实现室内精准采摘，系统全自研且高效可靠。
Design, Localization, Perception, and Control for GPS-Denied Autonomous Aerial Grasping and Harvesting
- 全系统自研，仅靠机载计算完成定位与控制
- 室内垂直农场中对类苹果果实抓取成功率高
- 适合农业自动化、无人机自主操作研究者参考
本文提出一个完整的无人机系统设计，用于执行复杂的非中心空中抓取任务。该任务涉及多个交叉学科挑战，需同时解决无GPS环境下的功能实现、纯机载计算能力以及避免使用昂贵的现成定位系统的问题。算法层面则需攻克视觉感知、定位、控制与抓取等核心难题。本文贡献包括：（i）详述室内空中抓取的根本挑战；（ii）设计一种轻量化机械臂夹爪；（iii）完成整个飞行平台的设计与实验室自制；（iv）构建从定位、感知到控制、抓取的完整系统，并实现端到端飞行自主状态机。最终，所提出的无人机系统 Drone-Bee 在室内垂直农场环境中成功实现了对类苹果果实的高成功率采摘，据我们所知，此类系统此前未见于文献报道，其能力推动了空中操作迈向第四代。
原文摘要 · Abstract (English)
In this paper, we present a comprehensive UAV system design to perform the highly complex task of off-centered aerial grasping. This task has several interdisciplinary research challenges which need to be addressed at once. The main design challenges are GPS-denied functionality, solely onboard computing, and avoiding off-the-shelf costly positioning systems. While in terms of algorithms, visual perception, localization, control, and grasping are the leading research problems. Hence in this paper, we make interdisciplinary contributions: (i) A detailed description of the fundamental challenges in indoor aerial grasping, (ii) a novel lightweight gripper design, (iii) a complete aerial platform design and in-lab fabrication, and (iv) localization, perception, control, grasping systems, and an end-to-end flight autonomy state-machine. Finally, we demonstrate the resulting aerial grasping system Drone-Bee achieving a high grasping rate for a highly challenging agricultural task of apple-like fruit harvesting, indoors in a vertical farming setting (Fig. 1). To our knowledge, such a system has not been previously discussed in the literature, and with its capabilities, this system pushes aerial manipulation towards 4th generation.
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