code_planner

The paper “CODE: Complete Coverage UAV Exploration Planner using Dual-Type Viewpoints for Multi-Layer Complex Environments” has been accepted by RA-L in December 12th, 2024.

Expeiments Videos

We have designed several experimental evironments to validate the capability of our method. Updates are ongoing.

Experiment ① “Narrow Tunnel”: https://youtu.be/jENgJ3dgBa0 or https://www.bilibili.com/video/BV1h18YejEWP/
Experiment ② “Narrow Tunnel: DSVP VS CODE”: https://www.youtube.com/watch?v=VOSmzPwXvmc or https://www.bilibili.com/video/BV1vMvKesEBz/
Experiment ③ “Garage-D” : https://www.youtube.com/watch?v=5gJdlG9kfTY or https://www.bilibili.com/video/BV14DeZe9Ev3/

Comparison between 2D and 3D exploration tasks

https://youtu.be/98l-RHV5oCA

Explorration in Garage-D with different robot-init-point

https://youtu.be/04E0oGMSxJ8

Requirement

Ubuntu20.04
Ros2 Foxy

Simulation environment

①Garage-D garage with part of it’s driveway destoryed: https://github.com/ssssuxin/autonomous_navigation_environment_ego
②narrow tunnel: https://github.com/ssssuxin/autonomous_navigation_environment_ros1

Usages

Please follow step “Simulation environment” to install experimental environments first.

Garage-D

in env_ego (https://github.com/ssssuxin/autonomous_navigation_environment_ego)

ros2 launch ego_planner uav_new_garage.launch.py  
ros2 launch visualization_tools visualization_tools.launch.py  

(If anything wrong with rendering simulation environment, please try copy directory “new_garage_v2”(in src/vehicle_simulator/mesh) to “~/.gazebo/models”)
in planner

ros2 launch uav_planner garage_D_uav.launch.py (Stable_version) or

ros2 launch uav_planner 5_21_new_garage_invalid.launch.py (Fast_version) Performing Fast_version, please set "max_vel" and "max_acc" as 5.0 and 2.5 respectively in "single_run_in_sim.launch.py" of project env. ### Narrow Tunnel   in env_ros1 (https://github.com/ssssuxin/autonomous_navigation_environment_ros1)    

roslaunch vehicle_simulator narrow_tunnel.launch   in env_ego (https://github.com/ssssuxin/autonomous_navigation_environment_ego)    

ros2 launch visualization_tools visualization_tools_for_tunnel.launch.py    in planner  

ros2 launch uav_planner tunnel_guv.launch.py in a new terminate  

source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge dynamic_bridge    note: you cloud install ros1_bridge by apt-get or https://github.com/ros2/ros1_bridge

Results of Tests

Test 1

Check https://youtu.be/cI60Tal7ov0 for tra comparison.

CODE TARE

Test 2

Test 3

Check https://youtu.be/bqUJAKtqXxA for tra comparison.

CODE TARE

DATA Rigor

Please check the data statistics for comparing experiments, including exploration volume, time cost, etc., in the directory “t_distribution_for_datarigor”.