发表机构
Politecnico di Milano（米兰理工大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文针对户外机器人长时间覆盖面临的定位漂移、障碍物等挑战，提出结合覆盖规划、鲁棒定位与Nav2执行的ROS 2架构，经模拟与实际试验验证，可完成覆盖93.1%-96.1%规划区域的户外覆盖任务。
AI 中文摘要
使用自主平台进行长时间户外覆盖，除经典规划外仍面临诸多挑战：部署时在开阔空间存在定位漂移、在杂乱场地存在障碍物、在频繁转向机动中存在控制器可行性问题，以及在能量管理方面存在持续自主问题。本文提出一种用于户外覆盖的统一ROS 2架构，将覆盖规划、鲁棒定位与基于Nav2的执行相结合；融合于EKF的双天线RTK-GNSS可在长任务中保持机器人位姿（位置与航向）的准确性；在成熟的覆盖规划器中添加三项控制器感知改进；行为树任务管理器协调多目标执行、分层恢复、成本感知目标管理以及自主对接以返回充电。我们通过模拟和不同几何形状、障碍物密度的多个户外区域的实际试验验证了该架构，结果表明，所提架构可可靠完成不同区域的户外覆盖任务，覆盖规划区域的93.1%至96.1%。
英文摘要
Long-duration outdoor coverage with autonomous platforms remains challenging beyond classical planning: deployments face localization drift in open spaces, obstacles in cluttered sites, controller feasibility in turn-heavy maneuvers, and persistent autonomy with energy management. We propose a unified ROS 2 architecture for single-robot outdoor coverage: a dual-antenna RTK-GNSS fused in an EKF keeps both position and heading accurate across long missions; three controller-aware refinements extend a mature coverage planner; a Nav2-based behavior-tree mission executive coordinates multi-goal execution, layered recovery, cost-aware goal management, and autonomous docking for return-to-charge. In real-world trials across five outdoor areas with varying geometries and obstacle densities, the robot completed every coverage route, sweeping 93.1% to 96.1% of the planned coverage area.
