论文标题
虚拟表面和态度意识计划和负面障碍导航的行为
Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation
论文作者
论文摘要
本文提出了一个用于地面机器人的自主导航系统，通过映射，审议计划和反应性行为模块的凝聚力安排遍历积极的非结构化地形。所有系统都知道地形坡度，可见性和车辆方向，使机器人能够在未观察到的区域识别，计划和反应，并克服负面障碍，斜坡，台阶，悬垂和狭窄的通道。这是先驱者之一，可以在处理负面障碍方面明确，同时对绘制，计划和反应性组成部分进行绘制。该系统已在DARPA地下挑战赛上部署在三个异质地面机器人上，我们在城市和洞穴环境中介绍了结果，以及模拟的场景，证明了这种方法。
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of terrain slope, visibility and vehicle orientation, enabling robots to recognize, plan and react around unobserved areas and overcome negative obstacles, slopes, steps, overhangs and narrow passageways. This is one of pioneer works to explicitly and simultaneously couple mapping, planning and reactive components in dealing with negative obstacles. The system was deployed on three heterogeneous ground robots for the DARPA Subterranean Challenge, and we present results in Urban and Cave environments, along with simulated scenarios, that demonstrate this approach.
