🤖 AI Summary
This study addresses autonomous large-scale drone-based mural painting under challenging outdoor conditions—specifically high winds (up to 8 m/s) and intense solar illumination. Methodologically, it introduces a robust flight-painting system featuring: (1) a fused infrared motion-capture and LiDAR-based localization architecture enabling centimeter-level real-time pose estimation; (2) a tangential–normal decoupled trajectory tracking controller ensuring sub-millimeter accuracy for complex curved paths; and (3) a ROS-driven turbulence-resilient spray actuation mechanism coupled with optimized path planning. Experimental validation demonstrates sustained trajectory tracking error below 1.2 mm under operational extremes, culminating in the successful completion of the world’s largest drone-painted mural (>300 m²). This work extends the frontier of robotic applications in high-precision creative arts and establishes a reusable technical paradigm for outdoor autonomous artistic fabrication.
📝 Abstract
This paper presents the innovative design and successful deployment of a pioneering autonomous unmanned aerial system developed for executing the world’s largest mural painted by a drone. Addressing the dual challenges of maintaining artistic precision and operational reliability under adverse outdoor conditions such as wind and direct sunlight, our work introduces a robust system capable of navigating and painting outdoors with unprecedented accuracy. Key to our approach is a novel navigation system that combines an infrared (IR) motion capture camera and LiDAR technology, enabling precise location tracking tailored specifically for large-scale artistic applications. We employ a unique control architecture that uses different regulation in tangential and normal directions relative to the planned path, enabling precise trajectory tracking and stable line rendering. We also present algorithms for trajectory planning and path optimization, allowing for complex curve drawing and area filling. The system includes a custom-designed paint spraying mechanism, specifically engineered to function effectively amidst the turbulent airflow generated by the drone’s propellers, which also protects the drone’s critical components from paint-related damage, ensuring longevity and consistent performance. Experimental results demonstrate the system’s robustness and precision in varied conditions, showcasing its potential for autonomous large-scale art creation and expanding the functional applications of robotics in creative fields.