LiDAR点群による自由凸多面体の離散化と移動ロボット計画
Lidar-based exploration and discretization for mobile robot planning
LiDAR点群から自由凸多面体を抽出して環境を離散化し、遷移グラフを構築することで高レベル計画と低レベル制御を橋渡しする手法を提案し、ドローンとセグウェイで検証した。
著者: Yuxiao Chen, Andrew Singletary, Aaron D. Ames
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In robotic applications, the control, and actuation deal with a continuous description of the system and environment, while high-level planning usually works with a discrete description. This paper considers the problem of bridging the low-level control and high-level planning for robotic systems via sensor data. In particular, we propose a discretization algorithm that identifies free polytopes via lidar point cloud data. A transition graph is then constructed where each node corresponds to a free polytope and two nodes are connected with an edge if the two corresponding free polytopes intersect. Furthermore, a distance measure is associated with each edge, which allows for the assessment of quality (or cost) of the transition for high-level planning. For the low-level control, the free polytopes act as a convenient encoding of the environment and allow for the planning of collision-free trajectories that realizes the high-level plan. The results are demonstrated in high-fidelity ROS simulations and experiments with a drone and a Segway.
