陸空二モード車両による自律探査
Autonomous Exploration with Terrestrial-Aerial Bimodal Vehicles
陸上と空中の両方で移動できる二モード車両が、エネルギーと時間の制約下で効率的に探索するための階層的フレームワークを提案し、実機で有効性を示した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Yuman Gao, Ruibin Zhang, Tiancheng Lai, Yanjun Cao, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous exploration. Given the inherent energy and time constraints in practical exploration tasks, we present a hierarchical framework for the bimodal vehicle to utilize its flexible locomotion modalities for exploration. Beginning with extracting environmental information to identify informative regions, we generate a set of potential bimodal viewpoints. To adaptively manage energy and time constraints, we introduce an extended Monte Carlo Tree Search approach that strategically optimizes both modality selection and viewpoint sequencing. Combined with an improved bimodal vehicle motion planner, we present a complete bimodal energy- and time-aware exploration system. Extensive simulations and deployment on a customized real-world platform demonstrate the effectiveness of our system.
