Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap For Safe 2D Navigation and Exploration - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2024

Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap For Safe 2D Navigation and Exploration

Résumé

In this letter, we describe a novel roadmap construction method in unknown environments, which relies on the extraction of the Hamilton-Jacobi skeleton of the free space. This skeleton is used to construct a graph of free-space bubbles, effectively compressing the skeleton information in a sparse data structure but retaining its topology. The bubbles also enforce safety directly in the roadmap structure. We first demonstrate the relevance of this approach for standard path-planning tasks. We also propose a frontiers-based exploration strategy able to autonomously and safely build a complete 2D map of the environment.
Fichier principal
Vignette du fichier
2023_ral_noel.pdf (4.45 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04282634 , version 1 (13-11-2023)

Licence

Paternité

Identifiants

Citer

Thibault Noël, Antoine Lehuger, Eric Marchand, François Chaumette. Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap For Safe 2D Navigation and Exploration. IEEE Robotics and Automation Letters, 2024, 9 (1), pp.555-562. ⟨10.1109/LRA.2023.3334103⟩. ⟨hal-04282634⟩
60 Consultations
44 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More