Efficient Global Navigational Planning in 3-D Structures Based on Point Cloud Tomography

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Efficient Global Navigational Planning in 3-D Structures Based on Point Cloud Tomography

Yang, Bowen; Cheng, Jie; Xue, Bohuan; Jiao, Jianhao; Liu, Ming; (2024) Efficient Global Navigational Planning in 3-D Structures Based on Point Cloud Tomography. IEEE/ASME Transactions on Mechatronics 10.1109/TMECH.2024.3396001. (In press). Green open access

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Abstract

Navigation in complex 3-D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic understanding of the environment to navigate ground robots in multilayer structures. Our approach generates tomogram slices using the point cloud map to encode the geometric structure as ground and ceiling elevations. Then, it evaluates the scene traversability considering the robot's motion capabilities. Both the tomogram construction and the scene evaluation are accelerated through parallel computation. Our approach further alleviates the trajectory generation complexity compared with planning in 3-D spaces directly. It generates 3-D trajectories by searching through multiple tomogram slices and separately adjusts the robot height to avoid overhangs. We evaluate our framework in various simulation scenarios and further test it in the real world on a quadrupedal robot. Our approach reduces the scene evaluation time by three orders of magnitude and improves the path planning speed by three times compared with existing approaches, demonstrating highly efficient global navigation in various complex 3-D environments.

Type:	Article
Title:	Efficient Global Navigational Planning in 3-D Structures Based on Point Cloud Tomography
Open access status:	An open access version is available from UCL Discovery
DOI:	10.1109/TMECH.2024.3396001
Publisher version:	http://dx.doi.org/10.1109/tmech.2024.3396001
Language:	English
Additional information:	This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords:	Navigation, Point cloud compression, Robots,Trajectory, Costs , Nonhomogeneous media, Tomography
UCL classification:	UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI:	https://discovery.ucl.ac.uk/id/eprint/10194627