G²VDプランナ：グリッド一般化ボロノイ図を用いた効率的な移動ロボット経路計画
G$ \mathbf{^2} $VD Planner: Efficient Motion Planning With Grid-based Generalized Voronoi Diagrams
グリッド上の一般化ボロノイ図で探索空間をボロノイ回廊に絞る状態格子探索と、障害物との距離を考慮した二次計画法による経路平滑化を組み合わせ、移動ロボットの経路計画を高速化した研究。
著者: Jian Wen, Xuebo Zhang, Qingchen Bi, Hui Liu, Jing Yuan, Yongchun Fang
分類: cs.RO
原文アブストラクト
In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (G$ \mathbf{^2} $VD) is newly proposed for mobile robots. Different from existing approaches, the novelty of this work is twofold: 1) a new state lattice-based path searching approach is proposed, in which the search space is reduced to a novel Voronoi corridor to further improve the search efficiency; 2) an efficient quadratic programming-based path smoothing approach is presented, wherein the clearance to obstacles is considered to improve the path clearance of hard-constrained path smoothing approaches. We validate the efficiency and smoothness of our approach in various challenging simulation scenarios and outdoor environments. It is shown that the computational efficiency is improved by 17.1% in the path searching stage, and path smoothing with the proposed approach is 6.6 times faster than an advanced sparse-banded structure-based path smoothing approach and 53.3 times faster than the popular timed-elastic-band planner. A video showing outdoor navigation on our campus is available at https://youtu.be/iMXGthgvp58.
