ヒューリスティック角度探索に基づくUAV向け計算効率の良い障害物回避軌道計画
Computationally Efficient Obstacle Avoidance Trajectory Planner for UAVs Based on Heuristic Angular Search Method
単一深度カメラの限られた視野でも安全に飛べるよう、ヒューリスティック角度探索と最小加速度最適化を組み合わせた計算効率の良いUAV障害物回避軌道計画を提案し、実機搭載可能なリアルタイム性をシミュレーションで示した。
分類: cs.RO
原文アブストラクト
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we proposed such a computationally efficient obstacle avoidance trajectory planner that can be used in cluttered unknown environments. Because of the narrow view field of single depth camera on a UAV, the information of obstacles around is quite limited thus the shortest entire path is difficult to achieve. Therefore we focus on the time cost of the trajectory planner and safety rather than other factors. This planner is mainly composed of a point cloud processor, a waypoint publisher with Heuristic Angular Search(HAS) method and a motion planner with minimum acceleration optimization. Furthermore, we propose several techniques to enhance safety by making the possibility of finding a feasible trajectory as big as possible. The proposed approach is implemented to run onboard in real-time and is tested extensively in simulation and the average control output calculating time of iteration steps is less than 18 ms.
