三次元経路計画：ラフメレオロジーによるナビゲーション
Three-Dimensional Path Planning: Navigating through Rough Mereology
ラフメレオロジーの概念を用いて3次元空間にポテンシャル場を生成し、障害物を回避しながら飛行ロボットの経路計画を行う手法を提案した論文。
著者: Aleksandra Szpakowska, Piotr Artiemjew
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In this paper, we present an innovative technique for the path planning of flying robots in a 3D environment in Rough Mereology terms. The main goal was to construct the algorithm that would generate the mereological potential fields in 3-dimensional space. To avoid falling into the local minimum, we assist with a weighted Euclidean distance. Moreover, a searching path from the start point to the target, with respect to avoiding the obstacles was applied. The environment was created by connecting two cameras working in real-time. To determine the gate and elements of the world inside the map was responsible the Python Library OpenCV [1] which recognized shapes and colors. The main purpose of this paper is to apply the given results to drones.