安全なクアッドロータ経路計画のための動的フリースペースロードマップ
Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning
障害物と交差する多面体を逐次分解して自由領域を更新し、動的障害物に対応できるナビゲーショングラフを構築する手法を提案した。
著者: Junlong Guo, Zhiren Xun, Shuang Geng, Yi Lin, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
Free-space-oriented roadmaps typically generate a series of convex geometric primitives, which constitute the safe region for motion planning. However, a static environment is assumed for this kind of roadmap. This assumption makes it unable to deal with dynamic obstacles and limits its applications. In this paper, we present a dynamic free-space roadmap, which provides feasible spaces and a navigation graph for safe quadrotor motion planning. Our roadmap is constructed by continuously seeding and extracting free regions in the environment. In order to adapt our map to environments with dynamic obstacles, we incrementally decompose the polyhedra intersecting with obstacles into obstacle-free regions, while the graph is also updated by our well-designed mechanism. Extensive simulations and real-world experiments demonstrate that our method is practically applicable and efficient.
