動的障害物を考慮した自律探索
Dynamic-Aware Autonomous Exploration in Populated Environments
動的障害物が通行を妨げる環境でも確実に未知領域を探索できるよう、動的フロンティアと再訪判断のコスト関数を導入した探索戦略を提案し、シミュレーションで既存手法を上回ることを示した。
著者: Valentina Cavinato, Thomas Eppenberger, Dina Youakim, Roland Siegwart, Renaud Dubé
分類: cs.RO
原文アブストラクト
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can compromise the exploration process by temporarily blocking passages, narrow paths, exits or entrances to other areas yet to be explored. In this work, we formulate a novel exploration strategy capable of explicitly handling dynamic obstacles, thus leading to complete and reliable exploration outcomes in populated environments. We introduce the concept of dynamic frontiers to represent unknown regions at the boundaries with dynamic obstacles together with a cost function which allows the robot to make informed decisions about when to revisit such frontiers. We evaluate the proposed strategy in challenging simulated environments and show that it outperforms a state-of-the-art baseline in these populated scenarios.
