Safe Autonomous Exploration and Adaptive Path Planning Strategy Using Signed Distance Field
Heying Wang,
Yuan Lin,
Wei Zhang
et al.
Abstract:Autonomous exploration in unknown environment has remained challenging due to unexpected collisions, stuckness and slowdowns around obstacles. This paper reports a novel approach based on Signed Distance Field (SDF), to optimize path planning algorithms and autonomous exploration strategy for safe and adaptive navigation in search and rescue missions. A quantitative criterion is established for evaluating the safety of planned trajectories. Simulation results show that the proposed SDF-A* path planner outperfo… Show more
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