オフロード環境におけるUGVのリスク認識型プランニングフレームワーク
A Risk-aware Planning Framework of UGVs in Off-Road Environment
オフロード環境で走行する無人地面車両(UGV)のための、リスク評価を統合したグローバル・ローカルプランニング手法を提案し、シミュレーションと実機で有効性を検証した論文。
著者: Junkai Jiang, Zhenhua Hu, Zihan Xie, Changlong Hao, Hongyu Liu, Wenliang Xu, Yuning Wang, Lei He, Shaobing Xu, Jianqiang Wang
分類: cs.RO
原文アブストラクト
Planning module is an essential component of intelligent vehicle study. In this paper, we address the risk-aware planning problem of UGVs through a global-local planning framework which seamlessly integrates risk assessment methods. In particular, a global planning algorithm named Coarse2fine A* is proposed, which incorporates a potential field approach to enhance the safety of the planning results while ensuring the efficiency of the algorithm. A deterministic sampling method for local planning is leveraged and modified to suit off-road environment. It also integrates a risk assessment model to emphasize the avoidance of local risks. The performance of the algorithm is demonstrated through simulation experiments by comparing it with baseline algorithms, where the results of Coarse2fine A* are shown to be approximately 30% safer than those of the baseline algorithms. The practicality and effectiveness of the proposed planning framework are validated by deploying it on a real-world system consisting of a control center and a practical UGV platform.
