论文标题
使用基于触手的采样的移动机器人的3D反应性导航算法
A 3D Reactive Navigation Algorithm for Mobile Robots by Using Tentacle-Based Sampling
论文作者
论文摘要
本文为3维（3D）空间中的移动机器人提供了一个反应性导航框架。提出的方法不依赖于全球地图信息，并通过使用基于触手的采样及其启发式评估来实现快速导航。该方法的这种反应性质来自触手（参数轮廓）上导航点的先前布置，以对导航空间进行采样。这些触手在每个时间步长评估，基于启发式特征，例如与目标，以前的触手偏好和附近的障碍物，以机器人为中心的3D网格。然后，选定的触手上的可导航采样点将传递给控制器以进行运动执行。所提出的框架不仅将其2D基于触手的对应物扩展到3D，还引入了离线和在线参数，其调整提供了算法在未知环境中工作的多功能性和适应性。为了证明所提出的算法的卓越性能优于制作方法，提出了基于物理学的模拟的各种地图的统计结果。该作品的视频可在https://youtu.be/rrf7whcz-0m上找到。
This paper introduces a reactive navigation framework for mobile robots in 3-dimensional (3D) space. The proposed approach does not rely on the global map information and achieves fast navigation by employing a tentacle based sampling and their heuristic evaluations on-the-fly. This reactive nature of the approach comes from the prior arrangement of navigation points on tentacles (parametric contours) to sample the navigation space. These tentacles are evaluated at each time-step, based on heuristic features such as closeness to the goal, previous tentacle preferences and nearby obstacles in a robot-centered 3D grid. Then, the navigable sampling point on the selected tentacle is passed to a controller for the motion execution. The proposed framework does not only extend its 2D tentacle-based counterparts into 3D, but also introduces offline and online parameters, whose tuning provides versatility and adaptability of the algorithm to work in unknown environments. To demonstrate the superior performance of the proposed algorithm over a state-of-art method, the statistical results from physics-based simulations on various maps are presented. The video of the work is available at https://youtu.be/rrF7wHCz-0M.
