未知環境を高速かつ安全にナビゲートする軌道プランナFASTER
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments
未知空間も含めて局所プランナが最適化しつつ、既知自由空間に安全なバックアップ軌道を常に確保することで、UAVの高速飛行と安全性を両立させた軌道計画手法を提案した。
著者: Jesus Tordesillas, Brett T. Lopez, Michael Everett, Jonathan P. How
分類: cs.RO, cs.CV
原文アブストラクト
Planning high-speed trajectories for UAVs in unknown environments requires algorithmic techniques that enable fast reaction times to guarantee safety as more information about the environment becomes available. The standard approaches that ensure safety by enforcing a "stop" condition in the free-known space can severely limit the speed of the vehicle, especially in situations where much of the world is unknown. Moreover, the ad-hoc time and interval allocation scheme usually imposed on the trajectory also leads to conservative and slower trajectories. This work proposes FASTER (Fast and Safe Trajectory Planner) to ensure safety without sacrificing speed. FASTER obtains high-speed trajectories by enabling the local planner to optimize in both the free-known and unknown spaces. Safety is ensured by always having a safe back-up trajectory in the free-known space. The MIQP formulation proposed also allows the solver to choose the trajectory interval allocation. FASTER is tested extensively in simulation and in real hardware, showing flights in unknown cluttered environments with velocities up to 7.8m/s, and experiments at the maximum speed of a skid-steer ground robot (2m/s).
