论文标题
使用时间安全走廊在动态环境中的多电动计划
Multirotor Planning in Dynamic Environments using Temporal Safe Corridors
论文作者
论文摘要
在本文中，我们提出了一种在动态环境中进行多动能计划的新方法。环境被表示为时间占用网格，赋予当前以及所有障碍的未来/预测状态。该方法基于先前的安全走廊生成和多旋转计划的工作，以避免移动和静态障碍。它首先生成了目标的全球途径，该途径没有考虑到环境的动态方面。然后，我们使用时间安全走廊来生成机器人将来可以在离散瞬间进入的安全空间。最后，我们在优化公式中使用了时间安全走廊，该公式说明了多电流动力学以及所有障碍物，以生成由多局部控制器执行的轨迹。我们在模拟中显示了我们方法的性能。
In this paper, we propose a new method for multirotor planning in dynamic environments. The environment is represented as a temporal occupancy grid which gives the current as well as the future/predicted state of all the obstacles. The method builds on previous works in Safe Corridor generation and multirotor planning to avoid moving and static obstacles. It first generates a global path to the goal that doesn't take into account the dynamic aspect of the environment. We then use temporal Safe Corridors to generate safe spaces that the robot can be in at discrete instants in the future. Finally we use the temporal Safe Corridors in an optimization formulation that accounts for the multirotor dynamics as well as all the obstacles to generate the trajectory that will be executed by the multirotor's controller. We show the performance of our method in simulations.
