DSVP: Dual-Stage Viewpoint Planner for Rapid Exploration by Dynamic Expansion
Hongbiao Zhu,Chao Cao,Yukun Xia,Sebastian Scherer,Ji Zhang,Weidong Wang,Hongbiao Zhu,Chao Cao,Yukun Xia,Sebastian Scherer,Ji Zhang,Weidong Wang
We present a method for efficiently exploring highly convoluted environments. The method incorporates two planning stages - an exploration stage for extending the boundary of the map, and a relocation stage for explicitly transiting the robot to different sub-areas in the environment. The exploration stage develops a local Rapidly-exploring Random Tree (RRT) in the free space of the environment, a...
