FLAGDroneRacing: An Autonomous Drone Racing System
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Published:2023-07-07
Issue:
Volume:
Page:1-16
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ISSN:2301-3850
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Container-title:Unmanned Systems
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language:en
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Short-container-title:Un. Sys.
Author:
Li Ruocheng12ORCID,
Lyu Jingshuo12,
Wang Aobo12,
Yu Rui12,
Wu Delong12,
Xin Bin12ORCID
Affiliation:
1. School of Automation, Beijing Institute of Technology, Beijing 100081, P. R. China
2. National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P. R. China
Abstract
This paper presents a complete system for autonomous drone racing combining image recognition, depth mapping, visual-inertial odometry (VIO), and collision-free trajectory planning. The proposed system focuses on simple, robust, and computationally efficient techniques to enable onboard hardware applications. A loosely coupled visual-inertial localization system is devised, to ensure real-time and robust localization. A lightweight CPU-based detection module is designed, which consists of autonomous mapping and gate detection components. We also introduce a robust and efficient trajectory planner to generate smooth and collision-free trajectories in real-time. The proposed methods are tested extensively through benchmark comparisons and challenging indoor flights, while simulation results show the validness and effectiveness of our proposed system. We release our implementation as an open-source ROS-package.
Funder
National Outstanding Youth Talents Support Program
Basic Science Center Programs of NSFC
Beijing Advanced Innovation Center for Intelligent Robots and Systems, in part by Shanghai Municipal Science and Technology Major Project
Shanghai Municipal Commission of Science and Technology Project
Publisher
World Scientific Pub Co Pte Ltd
Subject
Control and Optimization,Aerospace Engineering,Automotive Engineering,Control and Systems Engineering