复合边界点驱动的未知三维环境探索路径规划方法研究  

Study on path planning method for unknown 3D environment exploration driven by compound boundary points

作　　者：唐嘉宁 刘雨晴 周思达 李丁奎 TANG Jianing;LIU Yuqing;ZHOU Sida;LI Dingkui(School of Electrical and Information Engineering, Yunnan Minzu University, Kunming 650504, China)

机构地区：[1]云南民族大学电气信息工程学院,云南昆明650504

出　　处：《西北工业大学学报》2022年第3期708-716,共9页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(61963038,62063035)资助。

摘　　要：针对无人机在未知环境中探索程度低、速度慢、重复探索等问题,在边界驱动方法的基础上对边界点的选取进行改进,提出一种适用于无人机在未知环境下快速探索规划方法:在使用深度图像(RGBD)传感器接收环境信息的同时,即时构建已知环境的八叉树地图,把常见室内环境划分为6个局部环境类型,无人机根据搭载的RGBD相机观察到的局部环境类型生成瞬时速度命令,设计复合边界点,从中权衡信息增益最大且偏航角度最小的点作为边界导引点。进行仿真实验并与现有方法比较,针对次最佳视图(NBV)方法中公寓环境,采用文中方法比文献方法的探索时间约减少68.7%,此外,文中设计了4种环境类型,在这些环境中,所提方法比文献方法平均探索时间约减少97.1%,实验结果表明,文中方法能有效提升探索效率且具有较强可行性。Aiming at the low exploration level,slow speed and repeated exploration of UAVs in unknown environments,this paper improves the selection of boundary points based on the boundary driving method,and proposes a method suitable for UAVs to quickly explore in unknown environments.Planning method:while using the depth image(RGBD)sensor to receive environmental information,the octree map of the known environment is constructed in real time,and the common indoor environment is divided into six local environmental types.The drone observes according to the RGBD camera on board.The local environment type generates instantaneous speed commands,and designs composite boundary points,from which the point with the largest information gain and the smallest yaw angle is weighed as the boundary guide point.Finally,a simulation experiment was carried out and comparing with the existing methods.The time required to explore the apartment environment in the next best viewpoint(NBV)in Document with the present method is 68.7%less than the exploration time in the paper.In addition,this paper designs There are four types of environments.In these environments,the present method reduces the average exploration time by 97.1%comparing with the method in Document.The experimental results show that the present method can effectively improve the exploration efficiency and has strong feasibility.

关 键 词：未知环境 八叉树地图 局部环境类型 复合边界点 边界导引点 

分 类 号：V249[航空宇航科学与技术—飞行器设计]