论文标题
无地图型号：一个强大而快速的计划框架，用于积极自主飞行而无需地图融合
Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion
论文作者
论文摘要
在线维护地图是耗资资源的，而强大的导航系统通常需要通过融合良好的地图进行环境抽象。在本文中，我们提出了一个无MAP的计划者，该计划者直接在未使用的传感器数据上进行抽象。提出了具有可靠接近查询算法的有限记忆数据结构，以维持原始的历史信息。基于抽样的方案旨在提取自由空间骨架。智能的Waypoint选择策略使生成最终飞行走廊内的高质量轨迹。我们的计划者与其他无MAP的计划者有所不同，因为它可以有效地抽象和利用环境信息。在线补充一致性和成功率都可以显着提高与常规的无MAP方法。
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintaining raw historical information. A sampling-based scheme is designed to extract the free-space skeleton. A smart waypoint selection strategy enables to generate high-quality trajectories within the resultant flight corridors. Our planner differs from other mapless ones in that it can abstract and exploit the environment information efficiently. The online replan consistency and success rate are both significantly improved against conventional mapless methods.
