2Dを超えた地面ロボットのための効率的な軌道生成
Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment
複雑な地形による受動的な高さ変化とロボットの能動的な高さ制御の両方を考慮し、3次元空間で滑らかなシャシー軌道を生成する最適化ベースの計画フレームワークを提案した。
著者: Jingping Wang, Long Xu, Haoran Fu, Zehui Meng, Chao Xu, Yanjun Cao, Ximin Lyu, Fei Gao
分類: cs.RO
原文アブストラクト
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation planning framework beyond 2D. Existing methods rarely considers both simultaneously, limiting the capabilities and applications of ground robots. In this paper, we proposed an optimization-based planning framework for ground robots considering both active and passive height changes on the z-axis. The proposed planner first constructs a penalty field for chassis motion constraints defined in R3 such that the optimal solution space of the trajectory is continuous, resulting in a high-quality smooth chassis trajectory. Also, by constructing custom constraints in the z-axis direction, it is possible to plan trajectories for different types of ground robots which have z-axis degree of freedom. We performed simulations and realworld experiments to verify the efficiency and trajectory quality of our algorithm.
