论文标题
使用体素电网生成形状意识的安全走廊
Shape-aware Safe Corridors Generation using Voxel Grids
论文作者
论文摘要
最近在多种最先进的运动计划方法中使用了安全的走廊（一系列重叠的凸形形状）。他们允许以有效的方式避免碰撞的方式来代表环境中的自由空间。在本文中，我们提出了一个用于生成安全走廊的新框架。我们假设我们具有环境的体素电网表示。提出的框架改进了先前的基于Voxel网格的安全走廊生成方法。它还在给定安全走廊的多面体之间创建了一个连接图，该图可以知道哪个Polyhedra相互相交。连接图可用于计划方法以减少计算时间。在计算时间，涵盖的音量，安全性，每个安全走廊的多面体数量和每个多面体的约束数量方面，将该方法与模拟中的其他最新方法进行了比较。
Safe Corridors (a series of overlapping convex shapes) have been used recently in multiple state-of-the-art motion planning methods. They allow to represent the free space in the environment in an efficient way for collision avoidance. In this paper, we propose a new framework for generating Safe Corridors. We assume that we have a voxel grid representation of the environment. The proposed framework improves on a previous state-of-the-art voxel grid based Safe Corridor generation method. It also creates a connectivity graph between polyhedra of a given Safe Corridor that allows to know which polyhedra intersect with each other. The connectivity graph can be used in planning methods to reduce computation time. The method is compared to other state-of-the-art methods in simulations in terms of computation time, volume covered, safety, number of polyhedron per Safe Corridor and number of constraints per polyhedron.
