外观
论文arXiv 2609.354931 个月前
使用四足侦察机器人的面向外感知-本体感知建图的地形感知自主行星探索
原文链接：Terrain-Aware Autonomous Planetary Exploration for Exteroceptive-Proprioceptive Mapping with Quadruped Scouts（arXiv 2609.35493 · 发布日期：2026-09-28）
Terrain-Aware Autonomous Planetary Exploration for Exteroceptive-Proprioceptive Mapping with Quadruped Scouts
提出融合RGB-D高程图与本体感知线索的四足地形感知探索框架，在Isaac Sim月球类环境中验证。
核心要点
- 行星探索需在未知不平地形中导航，并评估风险、可通行性和能耗。
- 机载RGB-D构建机器人中心高程图，本体测量补充交互感知地形线索。
- 局部地图增量配准为全局多层表示，探索模块选择未知兴趣区域目标。
- 仿真显示可自主探索与扩展地图，后续导航平均CoT低于初始探索。
验证范围与局限：仅在NVIDIA Isaac Sim的月球类环境仿真中验证。
英文摘要 (Abstract)
Autonomous planetary exploration requires robots to navigate unknown, uneven terrain while assessing risk, traversability, and energetic cost. Quadruped scouts are well suited for this task because they can traverse irregular surfaces and gather mobility-relevant information during locomotion. This paper presents a terrain-aware exploration framework that combines exteroceptive and proprioceptive mapping for a quadruped robot in lunar-like environments. An onboard RGB-D camera builds robot-centered elevation maps, estimates geometric traversability, and derives navigation costs for autonomous planning. In parallel, proprioceptive measurements provide interaction-aware terrain cues that complement geometry-based assessment. Local maps are incrementally registered into a global multi-layer representation, which is used by an exploration module to select targets in unexplored regions of interest. The targets are reached by an autonomous navigation system that guides collision-aware motion using the available map and cost layers. Simulation results on NVIDIA Isaac Sim show autonomous exploration, map expansion, and spatial association between terrain geometry and robot-terrain interaction. Subsequent navigation using this information exhibits lower average Cost of Transport (CoT) than initial exploration.
作者：Alberto Sánchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol, Claudio Semini
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