未知のオフロード地形における高速な局所計画とマッピング
Fast Local Planning and Mapping in Unknown Off-Road Terrain
障害物検出と地形勾配マップを組み合わせたコストマップを10Hzで生成・更新し、A*計画と運動学的シミュレーションによる軌道サンプリングを組み合わせて30Hzでリアルタイムに走行経路を計画する手法を提案した。
著者: Timothy Overbye, Srikanth Saripalli
分類: cs.RO, cs.CV
原文アブストラクト
In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be created and updated at 10 Hz. An A* planner finds optimal paths over the map. Finally, we take multiple samples over the control input space and do a kinematic forward simulation to generated feasible trajectories. Then the most optimal trajectory, as determined by the cost map and proximity to A* path, is chosen and sent to the controller. Our method allows real time operation at rates of 30 Hz. We demonstrate the efficiency of our method in various off-road terrain at high speed.
