LOCOMOTION
从距离到轨迹：实时符号距离函数映射与距离加速的无人机运动规划
Jason Stanley, Zhirui Dai, Qihao Qian, Tzu-Chin Ho, Tianxing Fan, Siddharth Saha, Christopher Barngrover, Ki Myung Brian Lee, Nikolay Atanasov
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出了一种基于符号距离函数（SDF）的协同映射与规划框架，通过八叉树残差网络（OREN）在线重建SDF，并开发了Bubble*搜索规划器，利用距离信息生成最大无碰撞球体，显著减少碰撞检测次数。该方法在保证实时性的同时，提供了形式化的终止性、完备性和故障检测保证。
关键词
signed distance functionmotion planningUAVoctreeneural residual
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