论文标题
基于运动原语的附录基于快速和敏捷探索方法的路径计划
Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method
论文作者
论文摘要
该手稿对使用空中机器人进行敏捷探索的运动原理勘探路径计划方法提出了增强。现在，该方法进一步集成了全球计划层，以促进可靠的大规模探索。本地和全球计划之间的实施分叉允许有效的探索，并在大型环境中进行计划的能力，同时还可以确保安全，及时返回家园。提出了一组新的仿真研究和实验结果，以证明新的改进和增强。该方法可作为机器人操作系统（ROS）软件包可用。
This manuscript presents enhancements on our motion-primitives exploration path planning method for agile exploration using aerial robots. The method now further integrates a global planning layer to facilitate reliable large-scale exploration. The implemented bifurcation between local and global planning allows for efficient exploration combined with the ability to plan within very large environments, while also ensuring safe and timely return-to-home. A new set of simulation studies and experimental results are presented to demonstrate the new improvements and enhancements. The method is available open source as a Robot Operating System (ROS) package.
