Route Planning with FAR (Fast, Attemptable Route) Planner. [Coming soon]

Video shows FAR (Fast, Attemptable Route) Planner in action in a simulated tunnel network environment. FAR planner is able to work in both known and unknown environments. In known environments, it plans paths based on the prior map. In unknown environments, it is attemptable to figure out a way to bring the vehicle to the goal by picking up the environment layout and building a global visibility graph along the way.
Here, the vehicle is commanded to go to two goal-points in an unknown environment. The white-colored overall map on the right side is unknown to the planner and the yellow-colored traversed areas are known. The blue-colored navigation path is searched on the cyan-colored visibility graph built in the traversed areas. In the end, the vehicle uses the visibility graph to navigate back home.
FAR planner runs in Autonomous Exploration Development Environment. Our targeted open-source release is in Oct 2021.
https://www.cmu-exploration.com

Видео Route Planning with FAR (Fast, Attemptable Route) Planner. [Coming soon] канала Fan Yang