探索RRT：未知・非構造環境のための多目的経路計画と探索フレームワーク
Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments
情報利得・移動距離・駆動コストを多目的最適化するRRTベースの探索経路計画法を提案し、3D LiDAR搭載UAVの未知環境探索シミュレーションで有効性を示した。
著者: Björn Lindqvist, Ali-akbar Agha-mohammadi, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been specifically designed for utilization in 3D exploration missions, with partially or completely unknown and unstructured environments. The novel proposed ERRT is based on a multi-objective optimization framework and it is able to take under consideration the potential information gain, the distance travelled, and the actuation costs, along trajectories to pseudo-random goals, generated from considering the on-board sensor model and the non-linear model of the utilized platform. In this article, the algorithmic pipeline of the ERRT will be established and the overall applicability and efficiency of the proposed scheme will be presented on an application with an Unmanned Aerial Vehicle (UAV) model, equipped with a 3D lidar, in a simulated operating environment, with the goal of exploring a completely unknown area as efficiently and quickly as possible
