优化无碰撞空间的凸面覆盖以生成轨迹

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-03-20 DOI:10.1109/LRA.2025.3553416

Yuwei Wu;Igor Spasojevic;Pratik Chaudhari;Vijay Kumar

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引用次数: 0

摘要

我们提出了一种在线迭代算法，通过优化凸面覆盖来低估自主导航的自由空间，从而划定安全飞行走廊（SFC）。凸面覆盖由一组多面体组成，多面体的联合代表无障碍空间，这样我们就能为机器人找到位于凸面覆盖范围内的轨迹。为了找到有利于轨迹优化的 SFC，我们反复寻找最大体积的重叠多边形，其中包括由几何或运动规划器初始化的指定航点。在联合优化问题的两个交替阶段中，会出现航点的约束条件，该问题可通过基于启发式的新型迭代算法，利用部分分布式变量来解决。我们利用一系列参数化环境验证了所提算法的有效性，并展示了其在两阶段运动规划中的应用。

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Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation

We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union of the polytopes represents obstacle-free space, allowing us to find trajectories for robots that lie within the convex cover. In order to find the SFC that facilitates trajectory optimization, we iteratively find overlapping polytopes of maximum volumes that include specified waypoints initialized by a geometric or kinematic planner. Constraints at waypoints appear in two alternating stages of a joint optimization problem, which is solved by a novel heuristic-based iterative algorithm with partially distributed variables. We validate the effectiveness of our proposed algorithm using a range of parameterized environments and show its applications for two-stage motion planning.

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.