无通信多无人机在复杂环境中的感知自适应协同导航
Perception-Aware Communication-Free Multi-UAV Coordination in the Wild
- 基于机载3D LiDAR实现自主定位与障碍/邻机检测
- 感知受限下仍能安全高效抵达目标区域
- 适用于森林等无GNSS信号的真实场景
我们提出一种无需通信的多机器人协同方法，适用于森林等树冠密集、无法使用GNSS的复杂环境。该方法利用机载各向异性3D LiDAR进行同步定位与地图构建（SLAM），同时检测障碍物和邻近机器人。开发了一种新型感知自适应3D导航框架，使机器人在传感器视场受限条件下仍能安全有效地向目标区域推进。通过多样化场景的大量仿真评估，并在真实野外环境中验证，结果表明该方法具备良好的可扩展性、鲁棒性和可靠性。
原文摘要 · Abstract (English)
We present a communication-free method for safe multi-robot coordination in complex environments such as forests with dense canopy cover, where GNSS is unavailable. Our approach relies on an onboard anisotropic 3D LiDAR sensor used for SLAM as well as for detecting obstacles and neighboring robots. We develop a novel perception-aware 3D navigation framework that enables robots to safely and effectively progress toward a goal region despite limited sensor field-of-view. The approach is evaluated through extensive simulations across diverse scenarios and validated in real-world field experiments, demonstrating its scalability, robustness, and reliability.
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