期刊
AUTONOMOUS ROBOTS
卷 42, 期 2, 页码 291-306出版社
SPRINGER
DOI: 10.1007/s10514-016-9610-0
关键词
Exploration planning; Next-best-view; Autonomous inspection; Aerial robotics
资金
- European Union [644128]
- VPRI supporting account of UNR
Within this paper a new path planning algorithm for autonomous robotic exploration and inspection is presented. The proposed method plans online in a receding horizon fashion by sampling possible future configurations in a geometric random tree. The choice of the objective function enables the planning for either the exploration of unknown volume or inspection of a given surface manifold in both known and unknown volume. Application to rotorcraft Micro Aerial Vehicles is presented, although planning for other types of robotic platforms is possible, even in the absence of a boundary value solver and subject to nonholonomic constraints. Furthermore, the method allows the integration of a wide variety of sensor models. The presented analysis of computational complexity and thorough simulations-based evaluation indicate good scaling properties with respect to the scenario complexity. Feasibility and practical applicability are demonstrated in real-life experimental test cases with full on-board computation.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据