Real-Time Egocentric Navigation Using 3D Sensing
Real-Time Egocentric Navigation Using 3D Sensing
复制标题
使用 3D 传感的实时自我中心导航
DOI：
--
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
P. Vela
中科院分区：
文献类型：
--
作者：
Justin S. Smith;Shiyu Feng;Fanzhe Lyu;P. Vela
本章提出了一个分层导航系统结合感知空间的局部规划和allocentric全局规划的好处。感知空间允许计算高效的3D碰撞检查，从而在不满足基于平面激光扫描的传统导航系统所假设的条件的环境中实现安全导航。贡献包括在感知空间中的得分和碰撞检查轨迹的方法。基准测试结果显示了感知空间碰撞检查的优势，在实时局部规划的背景下，流行的替代品。多个机器人平台在几个环境中的模拟实验证明了3D碰撞检查的重要性和混合表示层次导航系统的实用程序。
This chapter proposes a hierarchical navigation system combining the benefits of perception space local planning and allocentric global planning. Perception space permits computationally efficient 3D collision checking, enabling safe navigation in environments that do not meet the conditions assumed by traditional navigation systems based on planar laser scans. Contributions include approaches for scoring and collision checking trajectories in perception space. Benchmarking results show the advantages of perception space collision checking over popular alternatives in the context of real-time local planning. Simulated experiments with multiple robotic platforms in several environments demonstrate the importance of 3D collision checking and the utility of a mixed representation hierarchical navigation system.