高速・敏捷探査のためのモーションプリミティブ経路計画手法の拡張
Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method
飛行ロボットの敏捷探査向けモーションプリミティブ経路計画に大域計画層を統合し、大規模環境での探索と安全な帰還を両立させた拡張版を提案・検証した。
著者: Mihir Dharmadhikari, Tung Dang, Kostas Alexis
分類: cs.RO
原文アブストラクト
This manuscript presents enhancements on our motion-primitives exploration path planning method for agile exploration using aerial robots. The method now further integrates a global planning layer to facilitate reliable large-scale exploration. The implemented bifurcation between local and global planning allows for efficient exploration combined with the ability to plan within very large environments, while also ensuring safe and timely return-to-home. A new set of simulation studies and experimental results are presented to demonstrate the new improvements and enhancements. The method is available open source as a Robot Operating System (ROS) package.
