Autonomous exploration and simultaneous object search using aerial robots
Autonomous exploration and simultaneous object search using aerial robots
复制标题
使用空中机器人进行自主探索和同步物体搜索
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
K. Alexis
中科院分区：
文献类型：
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作者：
Tung Dang;C. Papachristos;K. Alexis
提出了一种利用空中机器人自主探索未知环境并同时进行目标搜索的策略。空中机器人最初具有自主探索未知环境、检测属于某些感兴趣语义类别的物体并将这些检测与地图上的相应位置关联起来的能力。提供该信息，基于采样的语义增强的探索路径规划算法被设计为使得在其每次迭代中，其识别有限深度的无碰撞路径，该无碰撞路径最大化与探索新空间相关的增益以及与环境的先前映射的部分的观察的分辨率相关的增益，该环境的先前映射的部分与检测到的感兴趣对象相关。通过这种探索未知空间的能力，同时考虑感知感兴趣对象的视点的观察分辨率，实现了集中在与对象搜索任务最相关的地图子集上的在线3D映射。所提出的算法进行了评估，验证和演示，在两个模拟，以及实验研究，使用自主空中机器人能够GPS拒绝视觉惯性定位和映射操作。
In this paper, a strategy for autonomous exploration of unknown environments and simultaneous object search using aerial robots is proposed. An aerial robot is initially armed with the capacity to autonomously explore unknown environments, detect objects that belong to certain semantic classes of interest and relate these detections to the respective location on the map. Provided this information, a sampling-based semantically-enhanced exploration path planning algorithm is designed such that in its every iteration it identifies a finite-depth collision free path that maximizes a gain related to exploring new space, as well as a gain related to the resolution of the observation of the previously mapped parts of the environment that relate to detected objects of interest. Through this ability to explore the unknown space, while accounting for the resolution of observation of viewpoints perceiving objects of interest, online 3D mapping that is focused on the subsets of the map most relevant with object search missions is achieved. The proposed algorithm is evaluated, verified and demonstrated in both simulation, as well as experimental studies using an autonomous aerial robot capable of GPS-denied visual-inertial localization and mapping operation.
影响因子：
3.5
作者：
Hornung, Armin;Wurm, Kai M.;Burgard, Wolfram
通讯作者：
Burgard, Wolfram