UAVの部分観測下における異種無人システムの運動計画
Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV
UAVの視点から局所地図を生成し、記憶機構付きネットワークでUGVの運動を計画する手法を提案し、高い成功率を示した。
著者: Ci Chen, Yuanfang Wan, Baowei Li, Chen Wang, Guangming Xie, Huanyu Jiang
分類: cs.RO
原文アブストラクト
For heterogeneous unmanned systems composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), using UAVs serve as eyes to assist UGVs in motion planning is a promising research direction due to the UAVs' vast view scope. However, due to UAVs flight altitude limitations, it may be impossible to observe the global map, and motion planning in the local map is a POMDP (Partially Observable Markov Decision Process) problem. This paper proposes a motion planning algorithm for heterogeneous unmanned system under partial observation from UAV without reconstruction of global maps, which consists of two parts designed for perception and decision-making, respectively. For the perception part, we propose the Grid Map Generation Network (GMGN), which is used to perceive scenes from UAV's perspective and classify the pathways and obstacles. For the decision-making part, we propose the Motion Command Generation Network (MCGN). Due to the addition of memory mechanism, MCGN has planning and reasoning abilities under partial observation from UAVs. We evaluate our proposed algorithm by comparing with baseline algorithms. The results show that our method effectively plans the motion of heterogeneous unmanned systems and achieves a relatively high success rate.
