Pregled bibliografske jedinice broj: 1179505
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration // IEEE Robotics and Automation Letters, 7 (2022), 2; 2969-2976 doi:10.1109/lra.2022.3146586 (međunarodna recenzija, članak, znanstveni)
CROSBI ID: 1179505 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
A Shadowcasting-Based Next-Best-View Planner for
Autonomous 3D Exploration
Autori
Batinovic, Ana ; Ivanovic, Antun ; Petrovic, Tamara ; Bogdan, Stjepan
Izvornik
IEEE Robotics and Automation Letters (2377-3766) 7
(2022), 2;
2969-2976
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
Aerial systems, perception and autonomy, autonomous agents, mapping
Sažetak
In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while planning paths and calculating information gain in short computation time, suitable for implementation on an on-board computer. To this end, we present a planner that randomly samples viewpoints in the environment map. It relies on a novel and efficient gain calculation based on the Recursive Shadowcasting algorithm. To determine the Next-Best-View (NBV), our planner uses a cuboid-based evaluation method that results in an enviably short computation time. To reduce the overall exploration time, we also use a dead end resolving strategy that allows us to quickly recover from dead ends in a challenging environment. Comparative experiments in simulation have shown that our approach outperforms the current state- of-the-art in terms of computational efficiency and total exploration time.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo
POVEZANOST RADA
Projekti:
EK-H2020-810321 - Twinning koordinacijska akcija za širenje izvrsnosti i sudjelovanja u zračnoj robotici – AeRoTwin (AeRoTwin) (Bogdan, Stjepan, EK ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Citiraj ovu publikaciju:
Časopis indeksira:
- Current Contents Connect (CCC)
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- SCI-EXP, SSCI i/ili A&HCI
- Scopus