用于探测与制图辐射的半自主空中平台沉浸式操作
机器人学
2022-01-05 v1 人机交互
摘要
辐射探测与计算机视觉的最新进展使小型无人机系统(sUASs)能够实时生成三维核辐射图。目前这些最先进系统仍需两名操作员:一人驾驶 sUAS,另一人监测探测到的辐射。本文提出一种将实时三维辐射可视化与半自主 sUAS 控制相集成的系统。我们的虚拟现实接口使单个操作员能够通过航点定义轨迹以抽象复杂飞行控制,并利用 sUAS 的半自主机动能力。该接口还显示融合的辐射可视化与环境地图,从而使单个操作员能够同时进行远程操作与辐射监测。这构成了部署并自主控制 sUAS 机群单一系统开发的基础。
引用
@article{arxiv.2103.10057,
title = {Immersive Operation of a Semi-Autonomous Aerial Platform for Detecting and Mapping Radiation},
author = {P. Dayani and N. Orr and A. Thomopoulos and V. Saran and S. Krishnaswamy and E. Zhang and N. Hu and D. McPherson and J. Menke and A. Yang and K. Vetter},
journal= {arXiv preprint arXiv:2103.10057},
year = {2022}
}
备注
3 pages, 2 figures. The first three authors contributed equally. Accepted to the 2020 IEEE Nuclear Science Symposium & Medical Imaging Conference