Online Informative Path Planning for Active Information Gathering of a 3D Surface

Hai Zhu, Jen Jen Chun, Nicholas R.J. Lawrance, Roland Siegwart, Javier Alonso Mora

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

2 Citations (Scopus)
7 Downloads (Pure)

Abstract

This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the surface information is uniformly distributed hence ignoring potential spatial correlations of the information field. In this paper, we utilize manifold Gaussian processes (mGPs) with geodesic kernel functions for mapping surface information fields and plan informative paths online in a receding horizon manner. Our approach actively plans information-gathering paths based on recent observations that respect dynamic constraints of the vehicle and a total flight time budget. We provide planning results for simulated temperature modeling for simple and complex 3D surface geometries (a cylinder and an aircraft model). We demonstrate that our informative planning method outperforms traditional approaches such as 3D coverage planning and random exploration, both in reconstruction error and information-theoretic metrics. We also show that by taking spatial correlations of the information field into planning using mGPs, the information gathering efficiency is significantly improved.
Original languageEnglish
Title of host publicationProceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages1488-1494
ISBN (Electronic)978-1-7281-9077-8
ISBN (Print)978-1-7281-9078-5
DOIs
Publication statusPublished - 2021
EventICRA 2021: IEEE International Conference on Robotics and Automation - Hybrid at Xi'an, China
Duration: 30 May 20215 Jun 2021

Conference

ConferenceICRA 2021
Country/TerritoryChina
CityHybrid at Xi'an
Period30/05/215/06/21

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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