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학술지 Collision-free Local Planner for Unknown Subterranean Navigation
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저자
정성구, 이한섭, 심현철, Ali-akbar Agha-mohammadi
발행일
202108
출처
ETRI Journal, v.43 no.4, pp.580-593
ISSN
1225-6463
출판사
한국전자통신연구원 (ETRI)
DOI
https://dx.doi.org/10.4218/etrij.2021-0087
협약과제
21HS5200, 안전한 무인이동체를 위한 ICT 기반기술 개발, 안재영
초록
When operating in confined spaces or near obstacles, collision-free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision-free local planner. Using LiDAR range measurements, a local end-point selection method is designed, and the path is generated from the current position to the selected end-point. The generated path showed the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The results consistently demonstrated the safety and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge.
KSP 제안 키워드
Aerial robot, Autonomous exploration, Collision-free path planning, Exploration technique, Grid-search method, Planning method, Point selection, Range measurement, Real-Time, Real-world, Robot System
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