UniPilot让各类机器人在无GPS时也能自主导航
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments
- 融合激光雷达、雷达、视觉和惯性传感实现多模感知
- 支持跨平台部署，实现在复杂环境中的自主建图与安全导航
- 适合需要高鲁棒性自主能力的无人机、地面机器人等
本文提出UniPilot，一种紧凑的软硬件一体化自主系统，可集成于多种机器人平台，在无GPS环境下实现自主运行。系统融合激光雷达、雷达、视觉和惯性传感构成多模态感知套件，提升在单一模态失效场景下的鲁棒性。UniPilot运行完整的自主软件栈，包括多模态感知、探索与巡检路径规划、基于学习的导航策略。该模块集成了鲁棒定位、建图、规划、安全与控制功能，可部署于广泛平台。大量实验在多样化环境与多种机器人平台上验证了其建图、规划与安全导航能力。
原文摘要 · Abstract (English)
This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied environments. The system integrates a multi-modal sensing suite including LiDAR, radar, vision, and inertial sensing for robust operation in conditions where uni-modal approaches may fail. UniPilot runs a complete autonomy software comprising multi-modal perception, exploration and inspection path planning, and learning-based navigation policies. The payload provides robust localization, mapping, planning, and safety and control capabilities in a single unit that can be deployed across a wide range of platforms. A large number of experiments are conducted across diverse environments and on a variety of robot platforms to validate the mapping, planning, and safe navigation capabilities enabled by the payload.
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