期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 4, 页码 7957-7964出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3101885
关键词
Aerial systems: perception and autonomy; AI-based methods; AI-enabled robotics; mining robotics; robotics in hazardous fields
类别
资金
- Innovate U.K.
The study introduces an informed exploration approach that utilizes reachability graph and adaptive navigation for safe exploration in underground environments. Experimental results demonstrate that this method enables more efficient exploration in confined spaces.
Autonomous exploration is highly challenging in subterranean applications due to the constraints imposed by the nature of the environments (e.g., dead-end branches, unstructured regions, narrow passages and bifurcations). Robots need to constantly balance their exploration objectives with measures to ensure safety. We present an informed exploration approach to address these challenges, which exploits a reachability graph to represent the environment's structure and adaptive navigation to find collision-free motions. Our system makes the inspection task tractable and maximizes the information acquired about the environment while preserving safety. We evaluate our navigation and exploration techniques against several challenging cave scenarios reconstructed using real data. Our experimental results demonstrate that our method enables the robot to make informed decisions and perform exploration more efficiently than existing techniques in confined spaces.
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