Collision-free local planner for unknown subterranean navigation

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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.
Publisher
WILEY
Issue Date
2021-08
Language
English
Article Type
Article
Citation

ETRI JOURNAL, v.43, no.4, pp.580 - 593

ISSN
1225-6463
DOI
10.4218/etrij.2021-0087
URI
http://hdl.handle.net/10203/288143
Appears in Collection
EE-Journal Papers(저널논문)
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