3DVFH+: Real-Time Three-Dimensional Obstacle Avoidance Using an Octomap
3DVFH+: Real-Time Three-Dimensional Obstacle Avoidance Using an Octomap
复制标题
3DVFH：使用 Octomap 进行实时三维避障
DOI：
--
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
M. Weyn
中科院分区：
文献类型：
--
作者：
Simon Vanneste;B. Bellekens;M. Weyn
最近，研究人员试图通过从3D地图创建2D地图或通过创建具有多个高度水平的2D地图来解决计算密集的三维避障。当机器人可以在三维空间中移动时，这些技术就不再足够了。提出了一种新的实时三维避障算法。该算法基于2D VFH+避障算法，采用八点图框架表示三维环境。该算法将从该八点图生成2D极坐标直方图，该八点图将用于生成机器人运动。结果表明，机器人能够实时避开三维障碍物。该算法能够计算出一个新的机器人运动的平均时间为300 μs。
Recently, researchers have tried to solve the computational intensive three-dimensional obstacle avoidance by creating a 2D map from a 3D map or by creating a 2D map with multiple altitude levels. When a robot can move in a three-dimensional space, these techniques are no longer sufficient. This paper proposes a new algorithm for realtime three-dimensional obstacle avoidance. This algorithm is based on the 2D VFH+ obstacle avoidance algorithm and uses the octomap framework to represent the three-dimensional environment. The algorithm will generate a 2D Polar Histogram from this octomap which will be used to generate a robot motion. The results show that the robot is able to avoid 3D obstacles in real-time. The algorithm is able to calculate a new robot motion with an average time of 300 μs.
影响因子：
3.5
作者：
Hornung, Armin;Wurm, Kai M.;Burgard, Wolfram
通讯作者：
Burgard, Wolfram