地形と走行可能性解析を用いた探査計画のための多目的リスク評価フレームワーク
Multi-Objective Risk Assessment Framework for Exploration Planning Using Terrain and Traversability Analysis
未知の非構造環境での探査計画において、地形の標高・傾斜・粗さ・走行可能性とバッテリー・ミッション時間・移動距離を考慮し、ミッション進行に応じて許容リスクを動的に調整する多目的リスク評価手法を提案した。
著者: Riana Gagnon Souleiman, Vivek Shankar Varadharajan, Giovanni Beltrame
分類: cs.RO
原文アブストラクト
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path planning and potential mission failures. We propose a multi-objective risk assessment method for exploration planning in such unconstrained environments. Our approach dynamically adjusts the weight of various risk factors to prevent the robot from undertaking lethal actions too early in the mission. By gradually increasing the allowable risk as the mission progresses, our method enables more efficient exploration. We evaluate risk based on environmental terrain properties, including elevation, slope, roughness, and traversability, and account for factors like battery life, mission duration, and travel distance. Our method is validated through experiments in various subterranean simulated cave environments. The results demonstrate that our approach ensures consistent exploration without incurring lethal actions, while introducing minimal computational overhead to the planning process.
