局所マルチレゾリューション状態格子を用いた動的MAV軌道の探索ベース計画
Search-based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices
速度・加速度を含む高次元状態格子に局所マルチレゾリューションを適用し、近傍は高解像度・遠方は粗く表現することで、動的に実行可能なMAV軌道計画の計算時間を大幅に短縮した。
著者: Daniel Schleich, Sven Behnke
分類: cs.RO
原文アブストラクト
Search-based methods that use motion primitives can incorporate the system's dynamics into the planning and thus generate dynamically feasible MAV trajectories that are globally optimal. However, searching high-dimensional state lattices is computationally expensive. Local multiresolution is a commonly used method to accelerate spatial path planning. While paths within the vicinity of the robot are represented at high resolution, the representation gets coarser for more distant parts. In this work, we apply the concept of local multiresolution to high-dimensional state lattices that include velocities and accelerations. Experiments show that our proposed approach significantly reduces planning times. Thus, it increases the applicability to large dynamic environments, where frequent replanning is necessary.
