通過可能障害物を考慮した二輪ロボットの高混雑環境ナビゲーション計画法
POA: Passable Obstacles Aware Path-planning Algorithm for Navigation of a Two-wheeled Robot in Highly Cluttered Environments
障害物を「通過可能」「通過不可」に分類し、通過可能な障害物をすり抜ける経路を生成する二輪ロボット向けプランナを提案。従来手法より経路長を最大43%、移動時間を最大39%削減した。
著者: Alexander Petrovsky, Yomna Youssef, Kirill Myasoedov, Artem Timoshenko, Vladimir Guneavoi, Ivan Kalinov, Dzmitry Tsetserukou
分類: cs.RO, cs.AI
原文アブストラクト
This paper focuses on Passable Obstacles Aware (POA) planner - a novel navigation method for two-wheeled robots in a highly cluttered environment. The navigation algorithm detects and classifies objects to distinguish two types of obstacles - passable and unpassable. Our algorithm allows two-wheeled robots to find a path through passable obstacles. Such a solution helps the robot working in areas inaccessible to standard path planners and find optimal trajectories in scenarios with a high number of objects in the robot's vicinity. The POA planner can be embedded into other planning algorithms and enables them to build a path through obstacles. Our method decreases path length and the total travel time to the final destination up to 43% and 39%, respectively, comparing to standard path planners such as GVD, A*, and RRT*
