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原文摘要

Fast dynamic obstacle avoidance (DOA) on uncrewed aerial vehicles (UAVs) demands not only low-latency control and actuation but also reliable, long-range perception to detect obstacles and estimate their motion in time to maneuver. We present, to the best of our knowledge, the first mmWave RADAR-based perception-and-control system for fast onboard DOA. We derive and analyze latency and spatial bounds that relate sensing range, relative speed, and control delay, yielding sufficient conditions for successful avoidance. We further extend prior latency analyses to include the decision latency of the tracker and trigger to evaluate them per trial. Our computationally efficient system combines a lightweight interacting multiple models (IMM) tracker with a control-barrier functions (CBF) controller that directly outputs evasive accelerations. In 300 throw experiments spanning three object sizes and varying visibility (light and dark), it achieves mean position errors of at most 0.15 m, 0.93m, and 0.87m in the x, y, and z directions, with a similar spread in 90 experiments in smoke. An onboard implementation on a Raspberry Pi 4B demonstrates real-time feasibility with an end-to-end processing latency of approximately 14ms per RADAR frame and a system latency of 75ms from first detection to the avoidance command. The UAV successfully avoided obstacles in all 20 tethered indoor flights and all 39 untethered outdoor avoidance maneuvers across three ball sizes, during both hover and forward flights at up to 5m/s with measured closing speeds up to 14.6m/s.