Scalable information-theoretic path planning for a rover-helicopter team in uncertain environments
Scalable information-theoretic path planning for a rover-helicopter team in uncertain environments
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DOI：
10.1177/1729881421999587
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发表时间：
2021-03-01
影响因子：
2.3
通讯作者：
Park, Hyoshin
中科院分区：
文献类型：
--
作者：
Folsom, Larkin;Ono, Masahiro;Park, Hyoshin
对不确定环境的关键任务探索需要可靠和强大的机制来获得信息。信息增益的典型度量，例如香农熵和KL散度，不能区分不同的双峰概率分布或引入对双峰概率分布的一种模式的偏差。标准差（SD）度量的使用减少了偏倚，同时保留了区分较高和较低风险分布的能力。高SD的区域可以通过自主火星直升机的观测进行安全探索，从而为地面漫游者提供更安全，更快速的路径规划。首先，针对高度相关的不确定环境，提出了一种基于信息论效用的单智能体路径规划方法。在此基础上，提出了一种基于信息论的两阶段多智能体快速探索随机树框架，引导火星直升机通过高SD区域，以减少火星车的不确定性。在蒙特卡洛模拟中，我们比较了我们的信息理论框架与一个只有漫游者的方法和一个天真的方法，其中直升机侦察车沿着其规划的路径。最后，该模型在火星的热泽罗地区的案例研究中得到了证明。结果表明，信息理论的直升机提高了平均漫游车的旅行时间相比，单独的漫游车或与直升机侦察前沿着漫游车的最初计划的路线。
Mission-critical exploration of uncertain environments requires reliable and robust mechanisms for achieving information gain. Typical measures of information gain such as Shannon entropy and KL divergence are unable to distinguish between different bimodal probability distributions or introduce bias toward one mode of a bimodal probability distribution. The use of a standard deviation (SD) metric reduces bias while retaining the ability to distinguish between higher and lower risk distributions. Areas of high SD can be safely explored through observation with an autonomous Mars Helicopter allowing safer and faster path plans for ground-based rovers. First, this study presents a single-agent information-theoretic utility-based path planning method for a highly correlated uncertain environment. Then, an information-theoretic two-stage multiagent rapidly exploring random tree framework is presented, which guides Mars helicopter through regions of high SD to reduce uncertainty for the rover. In a Monte Carlo simulation, we compare our information-theoretic framework with a rover-only approach and a naive approach, in which the helicopter scouts ahead of the rover along its planned path. Finally, the model is demonstrated in a case study on the Jezero region of Mars. Results show that the information-theoretic helicopter improves the travel time for the rover on average when compared with the rover alone or with the helicopter scouting ahead along the rover's initially planned route.