Autonomous Exploration Development Environment and the Planning Algorithms

被引：21

作者：

Cao, Chao ^{[1
]}

Zhu, Hongbiao ^{[1
]}

Yang, Fan ^{[1
]}

Xia, Yukun ^{[1
]}

Choset, Howie ^{[1
]}

Oh, Jean ^{[1
]}

Zhang, Ji ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Robot Inst, Pittsburgh, PA 15213 USA

来源：

2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA 2022 | 2022年

关键词：

D O I：

10.1109/ICRA46639.2022.9812330

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Autonomous Exploration Development Environment is an open-source repository released to facilitate development of high-level planning algorithms and integration of complete autonomous navigation systems. The repository contains representative simulation environment models, fundamental navigation modules, e.g., local planner, terrain traversability analysis, waypoint following, and visualization tools. Together with two of our high-level planner releases - TARE planner for exploration and FAR planner for route planning, we detail usage of the three open-source repositories and share experiences in integration of autonomous navigation systems. We use DARPA Subterranean Challenge as a use case where the repositories together form the main navigation system of the CMU-OSU Team. In the end, we discuss a few potential use cases in extended applications.

引用

页码：8921 / 8928

页数：8

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