Comments (3)
你好,很抱歉这么晚才回复。
首先关于多机规划仿真里ESDF的问题,如果你仔细看代码结构就会发现,仿真里的ESDF是每个无人机独立建图的,建图的输入是来自于全局地图点云根据无人机位姿返回的局部点云,这个输入里面是不包含其他无人机的点云,所以在仿真中并不会出现你担心的问题。
但上述问题在真实环境中是会出现的,即生成EDSF时,周围的无人机可能会干扰建图,这个问题比较复杂,我还是从输入的角度来解释,真实环境中,ESDF输入的点云来自概率栅格地图,在无人机集群一起飞行时,运动的无人机点云不会被当做静态障碍物建到点云地图中,所以也不会影响ESDF,但如果停下来时,无人机作为静态障碍物会别识别为障碍物。
更进一步,这个问题可以被归纳为如何将周围协作的无人机同障碍物区分开来,这里我推荐你去看论文ego-swarm
里面有相关内容可以参考:
from swarm-formation.
非常感谢您的解答,确实,通过你们的simuolator可以避免这个问题.但我的仿真环境暂时还是基于PX4+gazebo的,因此我可能更感兴趣实际避免干扰的方式.
所以对于您上文第二段所提到的运动时的无人机点云不会被当成静态障碍建到esdf图中,是指您所使用的建图算法已经包含了移动点云分割并滤出的功能(如果是这样,您的仓库是否包含这个模块呢?)还是指以上操作是基于ego-swarm的agent removal(drone detect)模块实现的?
再次感谢您的回答!
from swarm-formation.
“使用的建图算法已经包含了移动点云分割并滤出的功能”
是的,我们提供的建图是概率栅格地图,移动较快的物体点云不会立刻被当做障碍物。
不过这个方法并不是专门用于移除无人机点云的,所以更推荐“基于ego-swarm的agent remova”
from swarm-formation.
Related Issues (20)
- 第一个目标点点在编队正右方,出现问题 HOT 1
- 在没有障碍的时候,无人机会转圈圈或大波浪 HOT 2
- Cannot Compile HOT 2
- 运行仿真测试时其中一个agent停止不动,然后电脑内存爆掉死机 HOT 1
- hummingbird.skeleton HOT 2
- Question on maps HOT 3
- 想要将代码移植到turtlebot3,遇到速度无法降低到设定范围的问题 HOT 2
- 请问如何获得每个智能体的轨迹数据 HOT 1
- Questions about dfde. HOT 1
- Swarm-Formation如何应对延迟,能否根据位置偏差重规划轨迹 HOT 3
- Hardware testing HOT 4
- There is a "double free or corruption (out)" error while using swarm_graph, I think there might be someting wrong with Eigen, my Eigen versioin is 2.0.0
- Hello, this is a great project. HOT 1
- 无人机架数达到100架时,编队飞行避障效果会怎么样 HOT 3
- 多目标点规划导致的路径问题 HOT 1
- 如何灵活地设置目标点 HOT 5
- 如何设置一个目标点序列,使得可以完成多段路径规划 HOT 2
- 仿真迁移真机时代码选择(有关摄像头)
- 请问集群行进过程中没有撞到障碍,但突然卡死一个飞机的可能原因是什么? HOT 3
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from swarm-formation.