Receding horizon path planning for 3D exploration and surface inspection
Within this paper a new path planning algorithm for autonomous robotic exploration and inspection is presented. The proposed method plans online in a receding horizon fashion by sampling possible future configurations in a geometric random tree. The choice of the objective function enables the plann...
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| Veröffentlicht in: | Autonomous robots Jg. 42; H. 2; S. 291 - 306 |
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| Hauptverfasser: | , , , , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
New York
Springer US
01.02.2018
Springer Nature B.V |
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| ISSN: | 0929-5593, 1573-7527 |
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| Abstract | Within this paper a new path planning algorithm for autonomous robotic exploration and inspection is presented. The proposed method plans online in a receding horizon fashion by sampling possible future configurations in a geometric random tree. The choice of the objective function enables the planning for either the exploration of unknown volume or inspection of a given surface manifold in both known and unknown volume. Application to rotorcraft Micro Aerial Vehicles is presented, although planning for other types of robotic platforms is possible, even in the absence of a boundary value solver and subject to nonholonomic constraints. Furthermore, the method allows the integration of a wide variety of sensor models. The presented analysis of computational complexity and thorough simulations-based evaluation indicate good scaling properties with respect to the scenario complexity. Feasibility and practical applicability are demonstrated in real-life experimental test cases with full on-board computation. |
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| AbstractList | Within this paper a new path planning algorithm for autonomous robotic exploration and inspection is presented. The proposed method plans online in a receding horizon fashion by sampling possible future configurations in a geometric random tree. The choice of the objective function enables the planning for either the exploration of unknown volume or inspection of a given surface manifold in both known and unknown volume. Application to rotorcraft Micro Aerial Vehicles is presented, although planning for other types of robotic platforms is possible, even in the absence of a boundary value solver and subject to nonholonomic constraints. Furthermore, the method allows the integration of a wide variety of sensor models. The presented analysis of computational complexity and thorough simulations-based evaluation indicate good scaling properties with respect to the scenario complexity. Feasibility and practical applicability are demonstrated in real-life experimental test cases with full on-board computation. |
| Author | Kamel, Mina Oleynikova, Helen Siegwart, Roland Alexis, Kostas Bircher, Andreas |
| Author_xml | – sequence: 1 givenname: Andreas orcidid: 0000-0001-9822-6304 surname: Bircher fullname: Bircher, Andreas email: andreas.bircher@mavt.ethz.ch, andreas.bircher@wingtra.com organization: ETH Zurich – sequence: 2 givenname: Mina surname: Kamel fullname: Kamel, Mina organization: ETH Zurich – sequence: 3 givenname: Kostas surname: Alexis fullname: Alexis, Kostas organization: University of Nevada, Reno – sequence: 4 givenname: Helen surname: Oleynikova fullname: Oleynikova, Helen organization: ETH Zurich – sequence: 5 givenname: Roland surname: Siegwart fullname: Siegwart, Roland organization: ETH Zurich |
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| Copyright | Springer Science+Business Media New York 2016 Autonomous Robots is a copyright of Springer, (2016). All Rights Reserved. |
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| Keywords | Next-best-view Autonomous inspection Aerial robotics Exploration planning |
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| SubjectTerms | Active Perception Algorithms Artificial Intelligence Complexity Computer Imaging Computer simulation Control Engineering Exploration Horizon Inspection Mechatronics Micro air vehicles (MAV) Path planning Pattern Recognition and Graphics Planning Robotics Robotics and Automation Rotary wing aircraft Vision |
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| Title | Receding horizon path planning for 3D exploration and surface inspection |
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