高難度環境における自律地上ナビゲーション：ICRA 2023第2回BARNチャレンジからの教訓
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023
ICRA 2023で開催された第2回BARNチャレンジでは、世界10チームがシミュレーション予選を経て、ロンドンの物理コースでClearpath Jackalロボットによる障害物回避ナビゲーションを競い、上位3チームの手法と得られた教訓を報告した。
著者: Xuesu Xiao, Zifan Xu, Garrett Warnell, Peter Stone, Ferran Gebelli Guinjoan, Romulo T. Rodrigues, Herman Bruyninckx, Hanjaya Mandala, Guilherme Christmann, Jose Luis Blanco-Claraco, Shravan Somashekara Rai
分類: cs.RO
原文アブストラクト
The 2nd BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) in London, UK and continued to evaluate the performance of state-of-the-art autonomous ground navigation systems in highly constrained environments. Compared to The 1st BARN Challenge at ICRA 2022 in Philadelphia, the competition has grown significantly in size, doubling the numbers of participants in both the simulation qualifier and physical finals: Ten teams from all over the world participated in the qualifying simulation competition, six of which were invited to compete with each other in three physical obstacle courses at the conference center in London, and three teams won the challenge by navigating a Clearpath Jackal robot from a predefined start to a goal with the shortest amount of time without colliding with any obstacle. The competition results, compared to last year, suggest that the teams are making progress toward more robust and efficient ground navigation systems that work out-of-the-box in many obstacle environments. However, a significant amount of fine-tuning is still needed onsite to cater to different difficult navigation scenarios. Furthermore, challenges still remain for many teams when facing extremely cluttered obstacles and increasing navigation speed. In this article, we discuss the challenge, the approaches used by the three winning teams, and lessons learned to direct future research.
