負の障害物を越えるための仮想面と姿勢を考慮した計画・行動
Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation
地形の傾斜・可視性・機体姿勢を考慮し、マッピング・計画・反応行動を統合して未観測領域や段差・張り出し・狭路などの負の障害物を回避する自律ナビゲーションシステムを提案し、DARPA地下トンネルチャレンジで実証した。
著者: Thomas Hines, Kazys Stepanas, Fletcher Talbot, Inkyu Sa, Jake Lewis, Emili Hernandez, Navinda Kottege, Nicolas Hudson
分類: cs.RO
原文アブストラクト
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of terrain slope, visibility and vehicle orientation, enabling robots to recognize, plan and react around unobserved areas and overcome negative obstacles, slopes, steps, overhangs and narrow passageways. This is one of pioneer works to explicitly and simultaneously couple mapping, planning and reactive components in dealing with negative obstacles. The system was deployed on three heterogeneous ground robots for the DARPA Subterranean Challenge, and we present results in Urban and Cave environments, along with simulated scenarios, that demonstrate this approach.
