Other drones act as obstacles and affect mapping and exploration, in Real World Experiments

[XXLiu-HNU]

Hello everyone, this is a very good project, simple and easy to implement.

In the past period of time, I first tried the exploration experiment of a single drone FUEL, and the effect was very good and achieved the effect I wanted.

But when I tried to reproduce this project, a problem confused me: when the drone was building a map, other drones would be regarded as obstacles, resulting in exploration failure.

First, I tested in Gazebo, and the environment looks like:

The environment is open, so drone planning should be easy to complete.

However, as shown in the figure, after a long period of planning, the drone has been staying in a small area because other drones are regarded as obstacles(I guess).

So I wander to know, how to resolve this problem when use this project in real world?

[XXLiu-HNU]

The final result after a long time is like:

[XXLiu-HNU]

In sdf_map.h, I added the code to set the position of other drones to FREE

inline void SDFMap::setFree(const Eigen::Vector3i& idx) {
  if (!isInMap(idx)) return;
  
  const int adr = toAddress(idx);
  md_->occupancy_buffer_[adr] = mp_->clamp_min_log_;  // 强制设置为自由
  md_->occupancy_buffer_inflate_[adr] = 0;                   // 清除膨胀占据
}

inline void SDFMap::setFree(const Eigen::Vector3d& pos) {
  Eigen::Vector3i idx;
  posToIndex(pos, idx);
  setFree(idx);
}

inline void SDFMap::setFreeCuboid(const Eigen::Vector3d& center, 
                                 double x_length, double y_length, double z_height) {
  // 计算长方体边界
  Eigen::Vector3d half_size(x_length/2, y_length/2, z_height/2);
  Eigen::Vector3d min_pos = center - half_size;
  Eigen::Vector3d max_pos = center + half_size;

  // 约束到地图边界
  min_pos = min_pos.cwiseMax(mp_->map_min_boundary_);
  max_pos = max_pos.cwiseMin(mp_->map_max_boundary_);

  // 转换为体素索引
  Eigen::Vector3i min_idx, max_idx;
  posToIndex(min_pos, min_idx);
  posToIndex(max_pos, max_idx);
  boundIndex(min_idx);
  boundIndex(max_idx);

  // 遍历长方体区域内的所有体素
  for (int x = min_idx[0]; x <= max_idx[0]; ++x) {
    for (int y = min_idx[1]; y <= max_idx[1]; ++y) {
      for (int z = min_idx[2]; z <= max_idx[2]; ++z) {
        Eigen::Vector3i idx(x, y, z);
        if (isInMap(idx)) {  // 确保索引有效
          setFree(idx);      // 直接置空无需距离判断
        }
      }
    }
  }
}

// 更新无人机群置空函数
inline void SDFMap::updateSwarmClearance(const std::vector<Eigen::Vector3d>& swarm_positions) {
  const double drone_x = 0.8;  // 长
  const double drone_y = 0.8;  // 宽
  const double drone_z = 0.3;  // 高
  
  for (const auto& pos : swarm_positions) {
    setFreeCuboid(pos, drone_x, drone_y, drone_z);
  }
}

However, the code still does not seem to reflect collaboration, and all drones are still searching for their own

[RYaNzzZ1]

Could it be that some drones might no longer have any new frontiers to explore?

[XXLiu-HNU]

Could it be that some drones might no longer have any new frontiers to explore?

Yes, it looks like that. Maybe we need to modify the topic mapping.

[PhoenixZqh]

请问有什么好的办法解决无人机充当了障碍物这个问题吗