1.29克微型机器人实现自主飞行与避障，无需外部定位系统。
Controlled Flight of an Insect-Scale Flapping-Wing Robot via Integrated Onboard Sensing and Computation
- 集成传感器与本地计算，实现厘米级定位精度
- 30秒飞行中成功避障并降落到向日葵上
- 适合需要自主导航的微小型机器人应用
空中昆虫能轻松穿越密集植被，而同等尺寸的飞行机器人通常依赖外部传感器和计算来维持稳定飞行，这使得它们只能在运动捕捉环境下运行，严重限制了其在搜救和精准农业等任务中的应用。本文展示了一款重1.29克的飞行机器人，仅依靠机载传感与计算即可实现悬停和轨迹跟踪。通过传感器套件、状态估计算法与低层控制器的结合，实现了厘米级位置控制精度。此外，我们设计了分层控制器，由人类操作员提供高层指令以引导飞行。在未使用运动捕捉系统的30秒飞行实验中，该机器人成功避开障碍物，并最终降落在一朵向日葵上。这种感知与计算的自主性对空中微机器人领域具有重要意义，为后续开展机载规划与能源自持研究打开了新可能。
原文摘要 · Abstract (English)
Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation within motion capture environments, substantially limiting their applicability to tasks such as search-and-rescue and precision agriculture. In this work, we present a 1.29-gram aerial robot capable of hovering and tracking trajectories with solely onboard sensing and computation. The combination of a sensor suite, estimators, and a low-level controller achieved centimeter-scale positional flight accuracy. Additionally, we developed a hierarchical controller in which a human operator provides high-level commands to direct the robot's motion. In a 30-second flight experiment conducted outside a motion capture system, the robot avoided obstacles and ultimately landed on a sunflower. This level of sensing and computational autonomy represents a significant advancement for the aerial microrobotics community, further opening opportunities to explore onboard planning and power autonomy.
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