モード切替点最適化を考慮した空陸両用ロボットの経路計画
Path Planning for Air-Ground Robot Considering Modal Switching Point Optimization
空陸両用ロボットの経路計画において、モード切替点の最適化を取り入れた軽量なグラフ探索手法を提案し、エネルギー効率と探索速度を改善した。
著者: Xiaoyu Wang, Kangyao Huang, Xinyu Zhang, Honglin Sun, Wenzhuo Liu, Huaping Liu, Jun Li, Pingping Lu
分類: cs.RO, cs.AI
原文アブストラクト
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on improving the energy efficiency of paths, seldom taking the seeking speed and optimizing take-off and landing places into account. A robot for the field application environment was proposed, and a lightweight global spatial planning technique for the robot based on the graph-search algorithm taking mode switching point optimization into account, with an emphasis on energy efficiency, searching speed, and the viability of real deployment. The fundamental concept is to lower the computational burden by employing an interchangeable search approach that combines planar and spatial search. Furthermore, to safeguard the health of the power battery and the integrity of the mission execution, a trap escape approach was also provided. Simulations are run to test the effectiveness of the suggested model based on the field DEM map. The simulation results show that our technology is capable of producing finished, plausible 3D paths with a high degree of believability. Additionally, the mode-switching point optimization method efficiently identifies additional acceptable places for mode switching, and the improved paths use less time and energy.
