实现0.5米窄隧道自主飞行，融合感知与气流建模提升稳定性
Autonomous Flights inside Narrow Tunnels
- 用全景感知模块和气流建模结合，解决狭小空间视觉与控制难题
- 在真实0.5米宽隧道中飞行表现超越人类飞行员
- 系统可移植至其他无人机平台，开源代码助力后续研发
多旋翼飞行器常需进入人类难以抵达的狭窄隧道，用于巡检、搜救等任务。该任务极具挑战性：缺乏几何特征与光照，加上视场受限导致感知困难；空间受限及显著的自身气流扰动带来控制难题。本文提出一种面向直径仅0.5米隧道的自主飞行系统。该实时在线系统包含专为任务设计的虚拟全向感知模块，以及融合感知信息与基于相机投影和计算流体动力学分析建模的自身气流扰动的新型运动规划器。在自研四旋翼上开展多组真实窄隧道飞行实验，验证了系统卓越性能，甚至优于人类飞行员，证明其在实际应用中的潜力。此外，还提供了在其他多旋翼平台上的部署方案，并开源相关软件包以促进后续发展。
原文摘要 · Abstract (English)
Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric features and illuminations, together with the limited field of view, cause problems in perception; the restricted space and significant ego airflow disturbances induce control issues. This paper introduces an autonomous aerial system designed for navigation through tunnels as narrow as 0.5 m in diameter. The real-time and online system includes a virtual omni-directional perception module tailored for the mission and a novel motion planner that incorporates perception and ego airflow disturbance factors modeled using camera projections and computational fluid dynamics analyses, respectively. Extensive flight experiments on a custom-designed quadrotor are conducted in multiple realistic narrow tunnels to validate the superior performance of the system, even over human pilots, proving its potential for real applications. Additionally, a deployment pipeline on other multirotor platforms is outlined and open-source packages are provided for future developments.
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