視覚的ティーチ・アンド・リピートにおける安全なナビゲーションのための効率的な局所反応型コントローラ
An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions
VT&Rシステムに局所反応型コントローラを組み込み、局所標高マップからRMPで10Hzの速度指令を生成して、障害物や視覚追跡喪失時でもロボットを安全に誘導できることをANYmal Cで実証した論文。
著者: Matías Mattamala, Nived Chebrolu, Maurice Fallon
分類: cs.RO
原文アブストラクト
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but if the environment is obstructed path tracking can fail or the robot could collide with a previously unseen obstacle. In this work, we present a locally reactive controller for a VT&R system that allows a robot to navigate safely despite physical changes to the environment. Our controller uses a local elevation map to compute vector representations and outputs twist commands for navigation at 10 Hz. They are combined in a Riemannian Motion Policies (RMP) controller that requires <2 ms to run on a CPU. We integrated our controller with a VT&R system onboard an ANYmal C robot and tested it in indoor cluttered spaces and a large-scale underground mine. We demonstrate that our locally reactive controller keeps the robot safe when physical occlusions or loss of visual tracking occur such as when walking close to walls, crossing doorways, or traversing narrow corridors. Video: https://youtu.be/G_AwNec5AwU
