Back to Search
Start Over
A Tree-based Next-best-trajectory Method for 3D UAV Exploration
- Publication Year :
- 2024
-
Abstract
- This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured environment while directly incorporating exploratory behavior, robot-safe path planning, and robot actuation into the central problem. ERRT provides a complete sampling and tree-based solution for evaluating "where to go next" by considering a trade-off between maximizing information gain, and minimizing the distances travelled and the robot actuation along the path. The complete scheme is evaluated in extensive simulations, comparisons, as well as real-world field experiments in constrained and narrow subterranean and GPS-denied environments. The framework is fully ROS-integrated, straight-forward to use, and we open-source it at https://github.com/LTU-RAI/ExplorationRRT.<br />Comment: 19 pages, 29 figures Transactions on Robotics
- Subjects :
- Computer Science - Robotics
I.2.9
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2407.04386
- Document Type :
- Working Paper
- Full Text :
- https://doi.org/10.1109/TRO.2024.3422052