Obstacle avoidance using buffered voronoi cells based on local information from a laser range scanner
Obstacle avoidance using buffered voronoi cells based on local information from a laser range scanner
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基于激光测距扫描仪的本地信息，使用缓冲沃罗诺单元进行避障
DOI：
10.1080/01691864.2022.2121616
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发表时间：
2022
影响因子：
2
通讯作者：
Miyoshi Seiji
中科院分区：
文献类型：
--
作者：
Motonaka Kimiko;Miyoshi Seiji
在这项研究中，我们提出了一种方法来实现自主导航方法，包括避障，基于缓冲Voronoi细胞（BVC）在四旋翼。使用BVC的导航方法适合于在线处理，因为它可以仅根据当前位置与障碍物之间的近似相对距离来确定控制输入，而无需复杂的信息，例如速度或准确的障碍物位置。该方法已被证实工作良好，通过模拟和实验在以前的研究。这些实验假设四旋翼可以使用与其他四旋翼的相互通信来获得附近物体的相对位置。然而，在实际使用中，存在四旋翼应当基于由安装的传感器收集的局部信息来移动的情况。因此，我们提出了一种方法，用于获得必要的信息，以计算从安装在四旋翼上的激光测距扫描仪的BVC的面积，使四旋翼能够到达指定的目标位置，而不与障碍物碰撞。此外，我们提出了一个简单的方法来处理死锁，可能会发生取决于障碍物的位置。
In this study, we present an approach for implementing an autonomous navigation method, including obstacle avoidance, based on buffered Voronoi cells (BVCs) in a quadrotor. The navigation method using BVC is suitable for online processing because it can determine the control input from only the approximate relative distance between the current position and the obstacles without complex information, such as velocity or accurate obstacle positions. The method has been confirmed to work well through simulations and experiments in previous studies. These experiments assumed that quadrotors could obtain the relative positions of nearby objects using mutual communication with other quadrotors. However, in practical use, there are cases in which quadrotors should move based on the local information gathered by the mounted sensors. Therefore, we propose a method for obtaining the necessary information to calculate the area of the BVC from a laser range scanner mounted on the quadrotor to enable the quadrotor to reach a specified target position without colliding with obstacles. In addition, we propose a simple method for handling deadlocks that can occur depending on the position of the obstacles.