外观
论文arXiv 2609.130151 个月前
基于多模型切换的全局路径规划器
原文链接：Global Path Planner with Multi-Model Switching（arXiv 2609.13015 · 发布日期：2026-09-11）
Global Path Planner with Multi-Model Switching
该工作面向复杂地形全局路径规划，结合可通行性图、Heading-Aware A*与多模型Pure Pursuit，并在仿真平台上验证。
核心要点
- 旨在提升复杂地形下全局路径规划的计划保真度。
- 系统用可通行性图分析地形，以Heading-Aware A*生成可行路径。
- 多模型Pure Pursuit按地形特征和机器人状态实时切换运动学模型。
- 仿真显示其相较标准基线提升性能、鲁棒性和适应性。
验证范围与局限：验证范围为仿真中的Artaban四足机器人和X3四旋翼无人机平台。
英文摘要 (Abstract)
This work enhances global path planning via a pure-pursuit controller with multi-model kinematic switching that sustains plan fidelity across diverse terrains. The system includes a traversability graph for terrain analysis, a Heading-Aware A* algorithm for generating feasible paths, and a multi-model Pure Pursuit controller for dynamic tracking. A core innovation is adaptive kinematic modeling, enabling real-time switching between kinematic models based on terrain features and robot states. This adaptability optimizes path efficiency and energy use in challenging scenarios. We validate the approach in simulation on different platforms, namely the Artaban quadruped and the X3 quadrotor drone, showcasing improved performance, robustness, and adaptability over standard baselines.
作者：Pietro Gori, Francesco Iotti, Eduard Zelenay, Rastislav Marko, Michele Pierallini, Franco Angelini, Gabriele Pannocchia, Manolo Garabini
来源
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