用毫米波雷达实现无人机全方位线路探测，防撞更可靠。
Omnidirectional Solid-State mmWave Radar Perception for UAV Power Line Collision Avoidance
- 多模块固态雷达合成360度感知，轻量化设计适配小型无人机。
- 实测可在10米内探测直径1.2毫米电线，飞行速度超10米/秒时成功避障。
- 适合需要高安全性的无人机自主或人工飞行场景。
电力线路的检测与距离估算对无人机飞行员及自主系统而言均具挑战性，易引发意外碰撞。本文提出一种基于毫米波雷达的感知系统，为小型无人机提供球形覆盖的全方位感知能力，以实现可靠的电力线路检测与避障。该系统集成多个紧凑型固态毫米波雷达模块，合成全向视场的同时保持轻量化。我们分析了该全向雷达布局在电力线路环境中的感知特性，并开发了针对其行为特点的鲁棒检测与避障算法。实地测试表明，系统可在长达10米的距离上可靠探测电力线路，飞行速度超过10米/秒时仍能成功执行避障动作，可识别直径小至1.2毫米的导线。这些结果证明该方法可作为自主与人工飞行无人机的额外安全保障。
原文摘要 · Abstract (English)
Detecting and estimating distances to power lines is a challenge for both human UAV pilots and autonomous systems, which increases the risk of unintended collisions. We present a mmWave radar-based perception system that provides spherical sensing coverage around a small UAV for robust power line detection and avoidance. The system integrates multiple compact solid-state mmWave radar modules to synthesize an omnidirectional field of view while remaining lightweight. We characterize the sensing behavior of this omnidirectional radar arrangement in power line environments and develop a robust detection-and-avoidance algorithm tailored to that behavior. Field experiments on real power lines demonstrate reliable detection at ranges up to 10 m, successful avoidance maneuvers at flight speeds upwards of 10 m/s, and detection of wires as thin as 1.2 mm in diameter. These results indicate the approach's suitability as an additional safety layer for both autonomous and manual UAV flight.
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