论文标题
2.5D映射，路径和路径跟随在不平坦的地形中导航机器人的导航
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain
论文作者
论文摘要
在机器人研究中，在不平坦的地形中安全导航是一个重要的问题。在本文中，我们提出了一个2.5D导航系统，该系统包括高程图构建，路径规划和本地路径，随后避免了障碍。对于本地路径，我们使用模型预测路径积分（MPPI）控制方法。我们为MPPI提出了新颖的成本功能，以使其适应高程图和通过不平衡的运动。我们在多个合成测试和具有不同类型的障碍物和粗糙表面的模拟环境中评估系统。
Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path planning and local path following with obstacle avoidance. For local path following we use Model Predictive Path Integral (MPPI) control method. We propose novel cost-functions for MPPI in order to adapt it to elevation maps and motion through unevenness. We evaluate our system on multiple synthetic tests and in a simulated environment with different types of obstacles and rough surfaces.
