マルチモダリティ制約から見た無人水上艇の経路計画：包括的レビュー
Unmanned Surface Vehicle Path Planning from the Perspective of Multi-Modality Constraints: A Comprehensive Analysis
経路計画問題の本質をマルチモダリティ制約と捉え、ルート計画・軌道計画・運動計画の3段階に分類してUSV向け手法と古典アルゴリズムを整理し、課題と今後の研究方向を示したレビュー論文。
著者: Chunhui Zhou, Shangding Gu, Yuanqiao Wen, Zhe Du, Changshi Xiao, Liang Huang, Man Zhu
分類: cs.RO
原文アブストラクト
The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality constraint. The path planning of multi-modality constraint research can be classified into three stages in terms of its basic ingredients (such as shape, kinematics and dynamics et al.): Route Planning, Trajectory Planning and Motion Planning. It then reviews the research methods and classical algorithms, especially those applied to the Unmanned Surface Vehicle (USV) in every stage. Finally, the paper points out some existing problems in every stage and suggestions for future research.
