分散型低コストToFセンサによる四足歩行ロボットの障害物回避と足場計画
Quadruped Obstacle Avoidance and Footstep Planning with Distributed Low-cost Time-of-Flight Sensors
四足歩行ロボットに分散配置した低コストToFセンサで近距離地形を計測し、深度カメラに代わって障害物回避と足場計画が可能かを検証した研究。
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著者: Giammarco Caroleo, Timothée Mahamoodally, Matteo Manzardo, Jin Jin, Marco Pontin, Matias Mattamala, Renato Vidoni, Perla Maiolino, Maurice Fallon
分類: cs.RO
原文アブストラクト
Quadruped robots typically rely on depth cameras and LiDAR sensors to map their local environment. However, these sensors have limited close-range coverage, are relatively expensive, and consume significant power. This study investigates whether distributed Time-of-Flight (ToF) sensors can serve as a low-cost alternative to depth cameras for near-field terrain mapping for locomotion and local navigation. We designed a distributed ToF sensing architecture for the ANYbotics ANYmal quadruped, assessed its environment reconstruction accuracy, and benchmarked it against depth cameras for terrain mapping and obstacle avoidance. Distributing these sensors around the robot can also avoid the blind spots of traditional sensors. Our results show that, despite their low resolution and higher measurement noise, distributed ToF sensors can support reliable perceptual locomotion with centimeter-level local mapping accuracy. The proposed sensing strategy provides sufficient geometric information for near-field obstacle avoidance and footstep planning, at substantially lower cost, energy consumption, and system complexity than depth cameras.