NNPP: 不整地における最適経路計画を高速化する学習ベースのヒューリスティックモデル
NNPP: A Learning-Based Heuristic Model for Accelerating Optimal Path Planning on Uneven Terrain
不整地の地形情報から最適経路の確率分布を学習し、A*などの探索アルゴリズムの探索範囲を絞ることで経路計画を高速化するNNPPモデルを提案した。
著者: Yiming Ji, Yang Liu, Guanghu Xie, Boyu Ma, Zongwu Xie, Baoshi Cao
分類: cs.RO, cs.AI
原文アブストラクト
Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for computing the heuristic region, enabling foundation algorithms like Astar to find the optimal path solely within this reduced search space, effectively decreasing the search time. The NNPP model learns semantic information about start and goal locations, as well as map representations, from numerous pre-annotated optimal path demonstrations, and produces a probabilistic distribution over each pixel representing the likelihood of it belonging to an optimal path on the map. More specifically, the paper computes the traversal cost for each grid cell from the slope, roughness and elevation difference obtained from the digital elevation model. Subsequently, the start and goal locations are encoded using a Gaussian distribution and different location encoding parameters are analyzed for their effect on model performance. After training, the NNPP model is able to \textcolor{revision}{accelerate} path planning on novel maps.
