论文标题
在MBZIRC 2020
Visually Guided Balloon Popping with an Autonomous MAV at MBZIRC 2020
论文作者
论文摘要
对微型航空车（MAV）的视觉指导控制需要强大的实时感知，快速轨迹产生和强大的飞行平台。我们提出了一个完全自主的MAV，该MAV能够弹出气球，仅依赖于板载和计算。在Mohamed bin Zayed国际机器人挑战（MBZIRC）2020年，通过实际机器人实验对该系统进行评估，在那里它显示了其弹性和速度。在所有三场比赛中，我们都可以在不到两分钟的时间内与一个小牛一起弹出所有五个气球。
Visually guided control of micro aerial vehicles (MAV) demands for robust real-time perception, fast trajectory generation, and a capable flight platform. We present a fully autonomous MAV that is able to pop balloons, relying only on onboard sensing and computing. The system is evaluated with real robot experiments during the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 where it showed its resilience and speed. In all three competition runs we were able to pop all five balloons in less than two minutes flight time with a single MAV.
