Abstract
Recently, robot planning methods based on Safe Corridors (a series of overlapping convex shapes) showed promising results in fast navigation for micro-aerial vehicles. However, state-of-the art methods for Safe Corridor generation either generate “unsafe” Safe Corridors, or are not generic enough. In this paper we propose a new algorithm for decomposing free 3D space into overlapping convex polyhedra based on a voxel-grid representation of the 3D space. It introduces the concept of “convex grid/inscribed polyhedron” duality that allows for an efficient and safe convex polyhedron generation. We showed that our method generates Safer Corridors than the state-of-the-art with guarantees that no intersection exists between the Safe Corridor and the real world obstacles, while staying within real-time constraints. We also showed that our method outperforms the state-of-the-art in terms of number of constraints per polyhedron and number of polyhedra per Safe Corridor, which translates into faster computation time in the planning/optimization phase.
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This work was funded by the doctoral school Sciences and Technologies of Information and Communication at Université Paris-Saclay.
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CT and AL conceived this research. CT wrote the code and did the experiments.
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Toumieh, C., Lambert, A. Voxel-Grid Based Convex Decomposition of 3D Space for Safe Corridor Generation. J Intell Robot Syst 105, 87 (2022). https://doi.org/10.1007/s10846-022-01708-y
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DOI: https://doi.org/10.1007/s10846-022-01708-y