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arXiv · 1905.13419

Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor

Alex Spitzer·Xuning Yang·John Yao·Aditya Dhawale·Kshitij Goel·Mosam Dabhi·Matt Collins·Curtis Boirum·Nathan Michael
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Abstract

We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by integrating recent advancements in visual-inertial state estimation and teleoperation. Our teleoperation framework maps user inputs onto smooth and dynamically feasible motion primitives. Collision-free trajectories are ensured by querying a locally consistent map that is incrementally constructed from forward-facing depth observations. Our system enables a non-expert operator to safely navigate a multirotor around obstacles at speeds of 10 m/s. We achieve autonomous flights at speeds exceeding 12 m/s and accelerations exceeding 12 m/s^2 in a series of outdoor field experiments that validate our approach.

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Alex Spitzer, Xuning Yang, John Yao, Aditya Dhawale, Kshitij Goel, Mosam Dabhi, Matt Collins, Curtis Boirum, Nathan Michael. 2019-05-31. Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor. https://doi.org/10.1007/978-3-030-33950-0_45

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