Waverider: 階層的マルチ解像度マップを活用した効率的で反応的な障害物回避
Waverider: Leveraging Hierarchical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance
階層的なボリュームマップとリーマン運動ポリシー(RMP)を組み合わせ、数百Hzで動作する高効率な反応的障害物回避システムを提案し、ドローンで実証した。
著者: Victor Reijgwart, Michael Pantic, Roland Siegwart, Lionel Ott
分類: cs.RO
原文アブストラクト
Fast and reliable obstacle avoidance is an important task for mobile robots. In this work, we propose an efficient reactive system that provides high-quality obstacle avoidance while running at hundreds of hertz with minimal resource usage. Our approach combines wavemap, a hierarchical volumetric map representation, with a novel hierarchical and parallelizable obstacle avoidance algorithm formulated through Riemannian Motion Policies (RMP). Leveraging multi-resolution obstacle avoidance policies, the proposed navigation system facilitates precise, low-latency (36ms), and extremely efficient obstacle avoidance with a very large perceptive radius (30m). We perform extensive statistical evaluations on indoor and outdoor maps, verifying that the proposed system compares favorably to fixed-resolution RMP variants and CHOMP. Finally, the RMP formulation allows the seamless fusion of obstacle avoidance with additional objectives, such as goal-seeking, to obtain a fully-fledged navigation system that is versatile and robust. We deploy the system on a Micro Aerial Vehicle and show how it navigates through an indoor obstacle course. Our complete implementation, called waverider, is made available as open source.
