CAP: 未知環境における連結性を考慮した階層型被覆経路計画アルゴリズム
CAP: A Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments using Coverage Guidance Graph
未知環境を効率的に被覆するため、オンラインで被覆誘導グラフを構築し、階層型プランナで経路を決定する手法CAPを提案し、シミュレーションと実機実験で被覆時間・経路長・重複率を改善した。
著者: Zongyuan Shen, Burhanuddin Shirose, Prasanna Sriganesh, Matthew Travers
分類: cs.RO
原文アブストラクト
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient coverage of unknown environments. During online operation, CAP incrementally constructs a coverage guidance graph to capture essential information about the environment. Based on the updated graph, the hierarchical planner determines an efficient path to maximize global coverage efficiency and minimize local coverage time. The performance of CAP is evaluated and compared with five baseline algorithms through high-fidelity simulations as well as robot experiments. Our results show that CAP yields significant improvements in coverage time, path length, and path overlap ratio.
