微小航空機のための探索ベース運動計画に向けて
Towards Search-based Motion Planning for Micro Aerial Vehicles
微小航空機(MAV)の複雑なダイナミクスに対応し、動的に実行可能で衝突のない解像度最適かつ完全な軌道を計画する探索ベースの枠組みを提案し、運動不確実性下の安全計画・視野制約・動的環境の3シナリオに適用した。
著者: Sikang Liu, Kartik Mohta, Nikolay Atanasov, Vijay Kumar
分類: cs.RO
原文アブストラクト
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micro Aerial Vehicles (MAVs) due to their complicated dynamics and the requirement of real-time computation. In this paper, we explore a search-based motion planning framework that plans dynamically feasible, collision-free, and resolution optimal and complete trajectories. This paper extends the search-based planning approach to address three important scenarios for MAVs navigation: (i) planning safe trajectories in the presence of motion uncertainty; (ii) planning with constraints on field-of-view and (iii) planning in dynamic environments. We show that these problems can be solved effectively and efficiently using the proposed search-based planning with motion primitives.
