高速探索を実現する空陸協調ロボットシステム
A Collaborative Aerial-Ground Robotic System for Fast Exploration
空中ロボットと地上車両が協調して未知環境を迅速に探索する自律システムを提案し、実機実験とシミュレーションで単体ロボットより高い効率を示した。
著者: Luqi Wang, Daqian Cheng, Fei Gao, Fengyu Cai, Jixin Guo, Mengxiang Lin, Shaojie Shen
分類: cs.RO
原文アブストラクト
Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this paper, we propose an autonomous collaborative system consists of an aerial robot and a ground vehicle to explore in unknown environments. We combine the frontier based method and the harmonic field to generate a path. Then, For the ground robot, a minimum jerk piecewise Bezier curve which can guarantee safety and dynamical feasibility is generated amid obstacles. For the aerial robot, a motion primitive method is adopted for local path planning. We implement the proposed framework on an autonomous collaborative aerial-ground system. Extensive field experiments as well as simulations are presented to validate the method and demonstrate its higher efficiency against each single vehicle.
