Zhang Naizhong, Pan Yaoqiang, Jin Yangwen, Jin Peiqi, Hu Kewei, Huang Xiao, Kang Hanwen
College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China.
College of Engineering, South China Agriculture University, Guangzhou 510070, China.
Sensors (Basel). 2024 Feb 5;24(3):1021. doi: 10.3390/s24031021.
Digital modelling stands as a pivotal step in the realm of Digital Twinning. The future trend of Digital Twinning involves automated exploration and environmental modelling in complex scenes. In our study, we propose an innovative solution for robot odometry, path planning, and exploration in unknown outdoor environments, with a focus on Digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated objectives, integrating multi-path planning and evaluation, with emphasis on full coverage of unknown maps based on feasible boundaries of interest. The approach allows for dynamic changes to expected targets and behaviours. The evaluation is conducted on a robotic platform with a lightweight 3D LiDAR sensor model. The robustness of different types of odometry is compared, and the impact of parameters on motion planning is explored. The consistency and efficiency of exploring completely unknown areas are assessed in both indoor and outdoor scenarios. The experiment shows that the method proposed in this article can complete autonomous exploration and environmental modelling tasks in complex indoor and outdoor scenes. Finally, the study concludes by summarizing the reasons for exploration failures and outlining future focuses in this domain.
数字建模是数字孪生领域的关键一步。数字孪生的未来趋势包括在复杂场景中的自动探索和环境建模。在我们的研究中，我们提出了一种创新解决方案，用于未知户外环境中的机器人里程计、路径规划和探索，重点是数字建模。该方法使用具有伪随机生成目标的最小成本公式，集成多路径规划和评估，强调基于可行兴趣边界对未知地图的全面覆盖。该方法允许预期目标和行为的动态变化。评估是在具有轻量级3D激光雷达传感器模型的机器人平台上进行的。比较了不同类型里程计的鲁棒性，并探讨了参数对运动规划的影响。在室内和室外场景中评估了探索完全未知区域的一致性和效率。实验表明，本文提出的方法可以在复杂的室内和室外场景中完成自主探索和环境建模任务。最后，该研究通过总结探索失败的原因并概述该领域未来的重点得出结论。
