Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot

02/22/2020
by   Yiduo Wang, et al.
0

In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of interest, without requiring a prior model. The system builds a voxel representation of the object, and iteratively determines the Next-Best-View (NBV) to extend the representation, according to both the reconstruction itself and to avoid collisions with the environment. By computing the expected information gain of a set of candidate scan locations sampled on the as-sensed terrain map, as well as the cost of reaching these candidates, the robot decides the NBV for further exploration. The robot plans an optimal path towards the NBV, avoiding obstacles and un-traversable terrain. Experimental results on both simulated and real-world environments show the capability and efficiency of our system. Finally we present a full system demonstration on the real robot, the ANYbotics ANYmal, autonomously reconstructing a building facade and an industrial structure.

READ FULL TEXT

page 1

page 4

page 5

page 6

research
08/23/2022

Robot Active Neural Sensing and Planning in Unknown Cluttered Environments

Active sensing and planning in unknown, cluttered environments is an ope...
research
03/29/2023

Active Implicit Object Reconstruction using Uncertainty-guided Next-Best-View Optimziation

Actively planning sensor views during object reconstruction is essential...
research
08/01/2021

3D Reactive Control and Frontier-Based Exploration for Unstructured Environments

The paper proposes a reliable and robust planning solution to the long r...
research
09/18/2022

Active Metric-Semantic Mapping by Multiple Aerial Robots

Traditional approaches for active mapping focus on building geometric ma...
research
01/21/2018

A Next-Best-Smell Approach for Remote Gas Detection with a Mobile Robot

The problem of gas detection is relevant to many real-world applications...
research
11/30/2020

Attention-Based Planning with Active Perception

Attention control is a key cognitive ability for humans to select inform...
research
12/11/2018

Optimal Structure Synthesis for Environment Augmenting Robots

Building structures can allow a robot to surmount large obstacles, expan...

Please sign up or login with your details

Forgot password? Click here to reset