实时自适应路径规划，让机器人采信息更高效。
IA-TIGRIS: An Incremental and Adaptive Sampling-Based Planner for Online Informative Path Planning
- 基于增量更新与智能采样，持续优化路径决策。
- 实测信息获取量比基线方法最高提升38%。
- 适配无人机等硬件，适合真实场景部署。
为机器人平台规划能最大化信息收益的路径具有广泛的应用潜力。为有效响应实时数据采集需求，信息增益路径规划必须在线计算并及时响应新观测。本文提出IA-TIGRIS（增量自适应树状信息采集启发式采样规划器），一种专为机载实时执行设计的增量式、自适应采样型信息路径规划方法。该方法通过增量优化历史规划结果，并持续适应更新后的信念图。我们还提供了详细的实现与优化方案，支持实际部署，并设计了多种任务导向的奖励函数。大量仿真结果表明，相比基线方法，本方法生成的路径质量更高。我们在两种不同硬件平台上验证了该规划器：六旋翼无人机（hexarotor UAV）和固定翼无人机（fixed-wing UAV），其运动模型与配置空间各异。实验结果显示，信息获取量较基线最高提升38%，充分体现了该规划器在真实应用中的潜力。项目网站：https://ia-tigris.github.io
原文摘要 · Abstract (English)
Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be responsive to new observations. In this work, we present IA-TIGRIS (Incremental and Adaptive Tree-based Information Gathering Using Informed Sampling), which is an incremental and adaptive sampling-based informative path planner designed for real-time onboard execution. Our approach leverages past planning efforts through incremental refinement while continuously adapting to updated belief maps. We additionally present detailed implementation and optimization insights to facilitate real-world deployment, along with an array of reward functions tailored to specific missions and behaviors. Extensive simulation results demonstrate IA-TIGRIS generates higher-quality paths compared to baseline methods. We validate our planner on two distinct hardware platforms: a hexarotor unmanned aerial vehicle (UAV) and a fixed-wing UAV, each having different motion models and configuration spaces. Our results show up to a 38% improvement in information gain compared to baseline methods, highlighting the planner's potential for deployment in real-world applications. Project website: https://ia-tigris.github.io
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。