期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 5, 期 2, 页码 1500-1507出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.2969191
关键词
Motion and path planning; aerial systems; perception and autonomy; reactive and sensor-based planning
类别
资金
- National Center of Competence in Research on Digital Fabrication
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local minima, resulting in sub-optimal trajectories, and sometimes do not reach global coverage. In this letter, we present a new RRT*-inspired online informative path planning algorithm. Our method continuously expands a single tree of candidate trajectories and rewires nodes to maintain the tree and refine intermediate paths. This allows the algorithm to achieve global coverage and maximize the utility of a path in a global context, using a single objective function. We demonstrate the algorithm's capabilities in the applications of autonomous indoor exploration as well as accurate Truncated Signed Distance Field (TSDF)-based 3D reconstruction on-board a Micro Aerial Vehicle (MAV). We study the impact of commonly used information gain and cost formulations in these scenarios and propose a novel TSDF-based 3D reconstruction gain and cost-utility formulation. Detailed evaluation in realistic simulation environments show that our approach outperforms sampling-based state of the art methods in these tasks. Experiments on a real MAV demonstrate the ability of our method to robustly plan in real-time, exploring an indoor environment with on-board sensing and computation. We make our framework available for future research.
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