The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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3D Costmap Generation and Path Planning for Reliable Autonomous Flight in Complex Indoor Environments

복합적인 실내 환경 내 신뢰성 있는 자율 비행을 위한 3차원 장애물 지도 생성 및 경로 계획 알고리즘

  • Received : 2023.04.27
  • Accepted : 2023.05.18
  • Published : 2023.08.31
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Abstract

In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

Keywords

Acknowledgement

This research was financially supported by the Institute of Civil Military Technology Cooperation funded by the Defense Acquisition Program Administration and Ministry of Trade, Industry and Energy of Korean government under grant No. UM22206RD2

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