论文标题
迫在眉睫的碰撞监控系统，并安全停止干预措施
An imminent collision monitoring system with safe stopping interventions for autonomous aerial flights
论文作者
论文摘要
避免碰撞需要在计划时间范围内进行权衡。根据规划师的不同，在给定地图更新的情况下，不能总是在不确定的环境中保证安全。为了减轻计划者将车辆带到碰撞状态或车辆到达不可行的点的情况，我们提出了连续的碰撞检查算法。迫在眉睫的碰撞检查系统不断监视车辆的安全性，并计划了一个安全的轨迹，该轨迹将车辆带到观察到的地图内停止。我们在现实生活实验中以及模拟的随机堡垒和仓库环境中测试了我们提出的管道，并在现实生活实验中测试了我们的管道，我们证明，通过我们的方法，我们能够以至少90 \％的成功率来减轻碰撞。
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a state of collision or the vehicle reaches a point where no trajectories are feasible, we propose a continuous collision checking algorithm. The imminent collision checking system continuously monitors vehicle safety, and plans a safe trajectory that leads the vehicle to a stop within the observed map. We test our proposed pipeline alongside a teleoperated navigation in real-life experiments, and in simulated random-forest and warehouse environments where we show that with our method, we are able to mitigate collisions with a success rate of at least 90\%.
