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无人机规划探索相关论文笔记
文章平均质量分 87
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无人机的运动规划与自主探索
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文献精读:FUEL: Fast UAV Exploration Using Incremental Frontier Structure and Hierarchical Planning
文献精读:FUEL: Fast UAV Exploration Using Incremental Frontier Structure and Hierarchical Planning主要分为两个部分:Incremental Frontier Information Structure用于前沿信息处理;Hierarchical Planning用于运动规划Incremental Frontier Information StructureFrontier Information Struc原创 2021-09-14 16:52:38 · 724 阅读 · 0 评论 -
文献精读:Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
文献精读:Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight提出了一种鲁棒且高效的轨迹生成方法Kinodynamic Path Searching继承了标准的A*框架,但其中Node为primitive,Edge为kinodynamic motion primitivePrimitives Generation采用无人机的二重积分模型p(t)=[px(t),py(t),pz原创 2021-09-14 16:51:53 · 1778 阅读 · 5 评论 -
文献略读:Frontier-Based 相关
文献略读:Frontier Based 相关A Frontier-Based Approach for Autonomous Exploration该论文第一次提出了frontier-based方法frontier:已知空间和未探索空间的分解区域核心思想:To gain the most new information about the world, move to the boundary between open space and uncharted territory.地图采用evid原创 2021-09-14 16:49:55 · 911 阅读 · 0 评论 -
文献略读:Next Best View 相关
文献略读:Next Best View 相关Receding Horizon “Next–Best–View” Planner for 3D Exploration基于RRT和NBV的探索规划器每一步都通过随机采样来构建RRT树,采样构型为 (x,y,z,ψ)(x,y,z,\psi)(x,y,z,ψ)采样完成后,寻找增益最大的构型作为NBV,并得到前往该构型的路径增益函数为Gain(n)=Gain(n−1)+Visible(M,ξk)exp(−λc(σk−1k))Gain(n) =原创 2021-09-14 16:47:10 · 1277 阅读 · 0 评论