公开(公告)号：US20250036138A1

公开(公告)日：2025-01-30

申请号：US18783703

申请日：2024-07-25

Applicant: Korea Advanced Institute of Science and Technology

Inventor： Hyun Myung ,  Seungwon Song ,  I Made Aswin Nahrendra ,  Junho Choi ,  Duckyu Choi ,  Seunghyun Lee ,  Eungchang Lee

IPC: G05D1/622 ,  B64U30/299 ,  B64U101/30 ,  G05D1/242 ,  G05D1/243 ,  G05D1/245 ,  G05D1/246 ,  G05D105/80 ,  G05D109/25 ,  G06T7/70 ,  G06V20/17

Abstract: Provided is an autonomous flight system of a drone unit including an information acquisition unit configured to acquire first information through a camera mounted to the drone unit, acquire second information through LiDAR, and acquire third information through an inertial measurement unit (IMU); an information processing unit configured to estimate a pose of the drone unit through the second information and the third information, acquire a coordinate value of a target object through the first information and the second information, and construct a 3D map and an unknown area exploration algorithm based on a pose estimation value of the drone unit, the coordinate value of the target object, and the second information; a path planner configured to generate an obstacle avoidance path based on the 3D map and the unknown area exploration algorithm; and a flight controller configured to apply the obstacle avoidance path to the drone unit.