12个轻量飞艇机器人无需外部定位即可自主完成配送任务
MochiSwarm: A testbed for robotic blimps in realistic environments
- 采用模块化设计，支持快速改装与传感器扩展
- 12个飞艇在无外部定位下实现自主视觉导航与任务执行
- 适合研究多机器人协同与低功耗空中系统
为提升空中机器人在抓取配送、监控等任务中的能效与可扩展性，本文提出MochiSwarm，一个开源的轻量级飞艇机器人测试平台，支持无需外部定位的多机器人协同。系统在硬件、软件与感知层面均实现模块化设计，具备低成本、轻量化特点。硬件支持快速改装，便于集成传感器以增强不同场景下的自主能力；软件框架兼容多种驱动模型，支持地面站与多个飞艇间的通信；可拆卸感知模块使各飞艇独立完成检测与自主控制任务。以差速驱动模块为例，其通过感知模块实现基于视觉伺服的自主控制。一项包含最多12个飞艇的抓取配送案例研究表明，MochiSwarm可在无外部基础设施条件下实现完全自主运行。
原文摘要 · Abstract (English)
Testing aerial robots in tasks such as pickup-and-delivery and surveillance significantly benefits from high energy efficiency and scalability of the deployed robotic system. This paper presents MochiSwarm, an open-source testbed of light-weight robotic blimps, ready for multi-robot operation without external localization. We introduce the system design in hardware, software, and perception, which capitalizes on modularity, low cost, and light weight. The hardware allows for rapid modification, which enables the integration of additional sensors to enhance autonomy for different scenarios. The software framework supports different actuation models and communication between the base station and multiple blimps. The detachable perception module allows independent blimps to perform tasks that involve detection and autonomous actuation. We showcase a differential-drive module as an example, of which the autonomy is enabled by visual servoing using the perception module. A case study of pickup-and-delivery tasks with up to 12 blimps highlights the autonomy of the MochiSwarm without external infrastructures.
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