论文标题
动态差距：在动态环境中基于安全间隙的导航
Dynamic Gap: Safe Gap-based Navigation in Dynamic Environments
论文作者
论文摘要
本文通过为层次导航系统生成可证明的无碰撞属性，将基于GAP的本地规划人员家族扩展到未知的动态环境。在动态环境中运作的现有感知信息的本地规划者依靠出现或经验鲁棒性来避免碰撞，而不是对动态障碍进行正式分析。除此之外，在这些存在的计划者中执行的障碍物跟踪通常是相对于全局惯性框架实现的，这使此类跟踪估计值可能会导致探测器漂移的转换错误。提出的本地规划师动态差距将跟踪范式转移到建模为差距表示的自由空间如何随着时间而发展。开发了间隙交叉和闭合条件，以帮助确定通过间隙的可行性，并针对文献中的其他导航计划者进行了广度的模拟基准测试，在此过程中，在所有环境中，在所有环境中测试的所有计划者中提出的最高成功率都达到了最高的成功率。
This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in dynamic environments rely on emergent or empirical robustness for collision avoidance as opposed to performing formal analysis of dynamic obstacles. In addition to this, the obstacle tracking that is performed in these existent planners is often achieved with respect to a global inertial frame, subjecting such tracking estimates to transformation errors from odometry drift. The proposed local planner, dynamic gap, shifts the tracking paradigm to modeling how the free space, represented as gaps, evolves over time. Gap crossing and closing conditions are developed to aid in determining the feasibility of passage through gaps, and a breadth of simulation benchmarking is performed against other navigation planners in the literature where the proposed dynamic gap planner achieves the highest success rate out of all planners tested in all environments.
