开发一个飞行探险器,用于在野生未知的地区进行自主数字建模
Naizhong Zhang1, Yaoqiang Pan2, Yangwen Jin2
1College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China.
Sensors (Basel, Switzerland)
|February 10, 2024
概括
这项研究引入了一种用于机器人探索和环境建模在未知的地区的新方法,通过自动化路径规划和最低成本配方来提高数字生能力,以实现高效地图覆盖.
科学领域:
- 机器人技术和自主系统
- 计算机视觉和环境建模
- 数字生和模拟技术
背景情况:
- 数字建模对于推进数字生,特别是复杂环境中的自动化探索至关重要.
- 现有的方法在动态,未知的户外环境中往往缺乏稳定性,用于机器人测距和路径规划等任务.
研究的目的:
- 为机器人测距,路径规划和在未知的户外环境中进行探索提出创新解决方案,重点是数字建模.
- 开发一种方法来完全覆盖未知的地图,使用最小成本的配方和多路径规划.
- 为了使动态适应在自主探索期间不断变化的目标和行为.
主要方法:
- 采用了最低成本公式,用于路径规划和探索的伪随机生成目标.
- 综合多路径规划和评估,以在定义的边界内提供全面的地图覆盖.
- 在配备轻量级3D LiDAR传感器的机器人平台上评估了方法.
主要成果:
- 在复杂的室内和室外场景中成功展示了自主探索和环境建模.
- 对比了不同类型的测距器的稳定性,并分析了运动规划参数的影响.
- 评估探索未知的地区的一致性和效率.
结论:
- 提出的方法有效地实现了在多样化,复杂的环境中实现自主勘探和环境建模.
- 确定了导致勘探失败的关键因素.
- 概述了未来的研究方向,以加强数字生和自主系统.
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