An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments
This work addresses the challenge of sub-optimal trajectories and local minima in sampling-based path planning for robot autonomy, with applications in exploration and reconstruction, though it appears incremental as it builds on existing RRT* concepts.
The paper tackles the problem of online informative path planning for robots in unknown environments by proposing a new RRT*-inspired algorithm that achieves global coverage and maximizes path utility, outperforming state-of-the-art methods in autonomous indoor exploration and 3D reconstruction tasks.
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local minima, resulting in sub-optimal trajectories, and sometimes do not reach global coverage. In this paper, we present a new RRT*-inspired online informative path planning algorithm. Our method continuously expands a single tree of candidate trajectories and rewires segments to maintain the tree and refine intermediate trajectories. This allows the algorithm to achieve global coverage and maximize the utility of a path in a global context, using a single objective function. We demonstrate the algorithm's capabilities in the applications of autonomous indoor exploration as well as accurate Truncated Signed Distance Field (TSDF)-based 3D reconstruction on-board a Micro Aerial vehicle (MAV). We study the impact of commonly used information gain and cost formulations in these scenarios and propose a novel TSDF-based 3D reconstruction gain and cost-utility formulation. Detailed evaluation in realistic simulation environments show that our approach outperforms state of the art methods in these tasks. Experiments on a real MAV demonstrate the ability of our method to robustly plan in real-time, exploring an indoor environment solely with on-board sensing and computation. We make our framework available for future research.