论文标题
利用基于抽样的多功能运动计划的碰撞
Exploiting collisions for sampling-based multicopter motion planning
论文作者
论文摘要
具有碰撞弹性设计的多功能器可以使用涉及碰撞的轨迹进行操作。本文提出了一种基于抽样的方法，可以利用碰撞以进行更好的运动计划。该方法是基于RRT*算法构建的，并利用了快速动作原始生成和对多次碰撞检查的优势。它通过检测运动原语与障碍物之间的潜在相交来产生碰撞状态，并将这些状态与其他采样状态联系起来形成碰撞的轨迹。我们表明，允许碰撞有助于在隧道等狭窄空间中提高基于抽样的计划者的性能。最后，提出了跟踪碰撞策划者产生的轨迹的实验。
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better motion planning. The method is built upon the basis of the RRT* algorithm and takes advantages of fast motion primitive generation and collision checking for multicopters. It generates collision states by detecting potential intersections between motion primitives and obstacles, and connects these states with other sampled states to form collision-inclusive trajectories. We show that allowing collision helps improve the performance of the sampling-based planner in narrow spaces like tunnels. Finally, an experiment of tracking the trajectory generated by the collision-inclusive planner is presented.
