Combining Local and Global Perception for Autonomous Navigation on Nano-UAVs
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866911800752078848 |
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| author | Lamberti, Lorenzo Rutishauser, Georg Conti, Francesco Benini, Luca |
| author_facet | Lamberti, Lorenzo Rutishauser, Georg Conti, Francesco Benini, Luca |
| contents | A critical challenge in deploying unmanned aerial vehicles (UAVs) for autonomous tasks is their ability to navigate in an unknown environment. This paper introduces a novel vision-depth fusion approach for autonomous navigation on nano-UAVs. We combine the visual-based PULP-Dronet convolutional neural network for semantic information extraction, i.e., serving as the global perception, with 8x8px depth maps for close-proximity maneuvers, i.e., the local perception. When tested in-field, our integration strategy highlights the complementary strengths of both visual and depth sensory information. We achieve a 100% success rate over 15 flights in a complex navigation scenario, encompassing straight pathways, static obstacle avoidance, and 90° turns. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_11661 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Combining Local and Global Perception for Autonomous Navigation on Nano-UAVs Lamberti, Lorenzo Rutishauser, Georg Conti, Francesco Benini, Luca Robotics Systems and Control A critical challenge in deploying unmanned aerial vehicles (UAVs) for autonomous tasks is their ability to navigate in an unknown environment. This paper introduces a novel vision-depth fusion approach for autonomous navigation on nano-UAVs. We combine the visual-based PULP-Dronet convolutional neural network for semantic information extraction, i.e., serving as the global perception, with 8x8px depth maps for close-proximity maneuvers, i.e., the local perception. When tested in-field, our integration strategy highlights the complementary strengths of both visual and depth sensory information. We achieve a 100% success rate over 15 flights in a complex navigation scenario, encompassing straight pathways, static obstacle avoidance, and 90° turns. |
| title | Combining Local and Global Perception for Autonomous Navigation on Nano-UAVs |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.11661 |