文章基本信息

标题：Collision‐free local planner for unknown subterranean navigation
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作者：Sunggoo Jung ; Hanseob Lee ; David Hyunchul Shim 等
期刊名称：ETRI Journal
印刷版ISSN：1225-6463
电子版ISSN：2233-7326
出版年度：2021
卷号：43
期号：4
页码：580-593
DOI：10.4218/etrij.2021-0087
语种：English
出版社：Electronics and Telecommunications Research Institute
摘要：When operating in confined spaces or near obstacles, collision‐free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision‐free local planner. Using LiDAR range measurements, a local end‐point selection method is designed, and the path is generated from the current position to the selected end‐point. The generated path showed the consistent collision‐free path in real‐time by adopting the Euclidean signed distance field‐based grid‐search method. The results consistently demonstrated the safety and reliability of the proposed path‐planning method. Real‐world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge.