Reproduce “HE-Nav: A High-Performance and Efficient Navigation System for Aerial-Ground Robots in Cluttered Environments” on OpenResearch
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About this paper
Junming Wang, Zekai Sun, Xiuxian Guan, Tianxiang Shen, Dong Huang, Zongyuan Zhang, Tianyang Duan, Fangming Liu and 1 more
HE-Nav helps aerial-ground robots navigate clutter by predicting obstacles hidden from a depth camera and choosing when to drive or fly. Its planner penalizes flight and guides routes without constructing an Euclidean signed distance field. In simulation, it had 98% collision-free success in two scenarios; indoors, it used 69.3% less energy than EGO-Planner in scenario a.
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