外观
论文arXiv 2510.031191 个月前
面向微型无人机的基于触须的触觉飞行
原文链接：Whisker-based tactile flight for tiny drones（arXiv 2510.03119 · 发布日期：2026-09-18）
Whisker-based tactile flight for tiny drones
为增强微型无人机受限感知，提出轻量触须触觉装置，并在刚性与柔性环境中验证自主避障、贴面与狭窄空间探索。
核心要点
- 微型飞行机器人适合搜救、巡检与环境监测，但尺寸和算力限制机载感知能力。
- 受鼠和鼹鼠等动物启发，3.2克触须装置通过根部气压计估计飞行中接触深度。
- 为应对持续接触中的传感噪声与漂移，触觉深度估计流程实现毫米级深度估计精度。
- 系统在仅192 KB内存的微控制器上全机载运行，展示多场景自主触觉飞行。
验证范围与局限：验证范围为微型无人机在刚性与柔性环境的多种场景中进行机载自主触觉飞行。
英文摘要 (Abstract)
Tiny flying robots hold great potential for search-and-rescue, safety inspections, and environmental monitoring, but their small size and limited computational resources constrain onboard sensing capabilities. Inspired by animals such as rats and moles which rely on lightweight whiskers to navigate and perceive their surroundings through touch, we present a 3.2-gram whisker-based tactile sensing apparatus that enables tiny drones to perceive and interact with their environment through gentle physical contact, even in complete darkness. The apparatus employs barometers at the base of each whisker to estimate contact depth in flight, enabling obstacle localization while minimizing contact-induced destabilization. To compensate for sensor noise and drift during sustained contact, we develop a tactile depth estimation pipeline that achieves millimeter-scale depth estimation accuracy. Together, these innovations enable tiny drones to autonomously avoid obstacles, contour surfaces, and explore confined spaces, guided by onboard tactile sensing across both rigid and soft environments. Running entirely onboard a microcontroller with just 192 KB of memory, our system demonstrates autonomous tactile flight across various scenarios. This bio-inspired approach extends perception for mobile robots beyond vision, opening new possibilities for autonomous operations in visually degraded and GPS-denied environments.
作者：Chaoxiang Ye, Guido de Croon, Salua Hamaza
来源
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