This article establishes the novel D$^*_+$, a risk-aware and platform-agnostic heterogeneous global path planner for robotic navigation in complex environments. The proposed planner addresses a fundamental bottleneck of occupancy-based path planners related to their dependency on accurate and dense maps. More specifically, their performance is highly affected by poorly reconstructed or sparse areas (e.g. holes in the walls or ceilings) leading to faulty generated paths outside the physical boundaries of the 3-dimensional space. As it will be presented, D$^*_+$ addresses this challenge with three novel contributions, integrated into one solution, namely: a) the proximity risk, b) the modeling of the unknown space, and c) the map updates. By adding a risk layer to spaces that are closer to the occupied ones, some holes are filled, and thus the problematic short-cutting through them to the final goal is prevented. The novel established D$^*_+$ also provides safety marginals to the walls and other obstacles, a property that results in paths that do not cut the corners that could potentially disrupt the platform operation. D$^*_+$ has also the capability to model the unknown space as risk-free areas that should keep the paths inside, e.g in a tunnel environment, and thus heavily reducing the risk of larger shortcuts through openings in the walls. D$^*_+$ is also introducing a dynamic map handling capability that continuously updates with the latest information acquired during the map building process, allowing the planner to use constant map growth and resolve cases of planning over outdated sparser map reconstructions...
翻译:本篇文章为复杂环境中的机器人导航建立了新型的D$(美元),这是一个风险意识和平台-不可知的全方位全球路径规划工具。拟议的规划员处理与依赖精确和密集地图有关的基于占用的路径规划者的基本瓶颈问题。更具体地说,由于重建不当或稀少的地区(如墙壁或天花板上的洞洞)导致三维空间物理边界外出现错误路径,因此,其性能受到严重影响。在介绍时,D$(美元)用三种新颖的贡献来应对这一挑战,即:(a) 接近风险,(b) 建立未知空间的模型,(c) 更新地图。通过在靠近被占领地图的地方增加一个风险层,填补了一些漏洞,从而防止了这些地方在最后目标上存在问题性的短处(例如墙壁或天花的洞),从而导致在三维空间物理边界外出现偏差,从而不会破坏平台运行的角落。D$(美元)还有能力在地图上建地图模型,以美元为固定空间的模型,在更安全的路径上开辟一个更安全的路径,从而在更安全地平坦的路径上,在更安全的轨道上,在更安全的轨道上建立一个更安全的路径上,在更安全的路径上,在更安全的路径上,在更安全的路径上,在更安全的路径上,在更安全的路径上,在更安全地进行更安全的路径上,在更安全的轨道上,在更安全的轨道上可以保持更安全的路径上,在更安全的路径上保持更安全的路径上,在更安全的路径上,在更安全的轨道上,在更安全的轨道上,在更安全的轨道上,在更安全、更安全、更安全、更安全、更安全、更安全的路径上保持更安全的路径上,在更安全的路径上保持更安全的路径上,在更安全的路径上,在更安全的轨道上,在更安全的轨道上,在更安全的轨道上,在更安全、更安全上,在更安全的路径上,在更安全的轨道上,在更安全的轨道上,在更安全的轨道上,在更安全的轨道上可以保持更安全的轨道上保持更安全的轨道上保持更安全的轨道上保持更安全、更安全的