Autonomous Exploration Development Environment is an open-source repository released to facilitate the development of high-level planning algorithms and integration of complete autonomous navigation systems. The repository contains representative simulation environment models, fundamental navigation modules, e.g., local planner, terrain traversability analysis, waypoint following, and visualization tools. Together with two of our high-level planner releases -- TARE planner for exploration and FAR planner for route planning, we detail usage of the three open-source repositories and share experiences in the integration of autonomous navigation systems. We use DARPA Subterranean Challenge as a use case where the repositories together form the main navigation system of the CMU-OSU Team. In the end, we discuss a few potential use cases in extended applications.
翻译:自主探索开发环境是一个开放源码储存库,为开发高级规划算法和整合完整的自主导航系统提供便利,该储存库包括具有代表性的模拟环境模型、基本导航模块,例如,地方规划仪、地形巡航分析、路标跟踪和可视化工具。连同我们的两个高级规划员 -- -- TARE用于勘探和FAR用于路线规划的规划员 -- -- 我们详细介绍了三个开放源码储存库的使用情况,并交流了整合自主导航系统的经验。我们利用DARPA Subterraniane 挑战作为使用实例,将储存库共同构成CMU-OSU小组的主要导航系统。最后,我们讨论了在扩展应用中可能使用的案例。