Towards Multi-Day Field Deployment Autonomy: A Long-Term Self-Sustainable Micro Aerial Vehicle Robot

摘要

This works deals with the problem of long-term autonomy in the context of multi-day field deployments of Micro Aerial Vehicle (MAV) systems. To truly depart from the necessity for human intervention for the crucial task of providing battery recharging, and to liberate from the need to operate in a confined range around specially installed infrastructure such as recharging pods, the MAV robot is required to harvest power on its own, but equally importantly also sustain prolonged periods of ambient power scarcity. This implies being able to sustain the battery charge overnight when using solar recharging, or even during multiple days of illumination inadequacy (e.g., due to degraded atmospheric lucidity and heavy overcast). We address this by presenting a Self-Sustainable Autonomous System architecture for MAVs centered around a specially tailored Power Management Stack, which is capable of achieving deep system hibernation, a feature that facilitates the aforementioned functionalities. We present a) continuous, b) multi-day successive, and c) externally-powered recharging that uses a legged robot-mounted Mobile Recharging Station. We conclude by demonstrating a challenging zero-intervention multi-day field deployment mission in the N.Nevada region.