衛星画像を用いた自律水面艇の確率的経路計画
Stochastic Planning for ASV Navigation Using Satellite Images
衛星画像を粗い地図として使い、風や植生などの環境外乱による不確実性を考慮して、自律水面艇が湖の水質調査ルートを最短の期待移動距離で計画する手法を提案し、実機実験で検証した。
著者: Yizhou Huang, Hamza Dugmag, Timothy D. Barfoot, Florian Shkurti
分類: cs.RO
原文アブストラクト
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between the satellite images and the actual lake, as well as environmental disturbances such as wind, aquatic vegetation, and changing water levels can make it difficult for robots to visit places suggested by the prior map. This paper presents a robust route-planning algorithm that minimizes the expected total travel distance given these environmental disturbances, which induce uncertainties in the map. We verify the efficacy of our algorithm in simulations of over a thousand Canadian lakes and demonstrate an application of our algorithm in a 3.7 km-long real-world robot experiment on a lake in Northern Ontario, Canada. Videos are available on our website https://pcctp.github.io/.
