自律探査開発環境と計画アルゴリズム
Autonomous Exploration Development Environment and the Planning Algorithms
自律ナビゲーションシステム開発のためのオープンソース環境と、探査用TARE・経路計画用FARの2つの高レベルプランナを公開し、DARPA地下チャレンジでの統合事例を紹介した論文。
著者: Chao Cao, Hongbiao Zhu, Fan Yang, Yukun Xia, Howie Choset, Jean Oh, Ji Zhang
分類: cs.RO
原文アブストラクト
Autonomous Exploration Development Environment is an open-source repository released to facilitate the development of high-level planning algorithms and integration of complete autonomous navigation systems. The repository contains representative simulation environment models, fundamental navigation modules, e.g., local planner, terrain traversability analysis, waypoint following, and visualization tools. Together with two of our high-level planner releases -- TARE planner for exploration and FAR planner for route planning, we detail usage of the three open-source repositories and share experiences in the integration of autonomous navigation systems. We use DARPA Subterranean Challenge as a use case where the repositories together form the main navigation system of the CMU-OSU Team. In the end, we discuss a few potential use cases in extended applications.
