This repository contains the code for the paper:
Online Informative Path Planning for Active Information Gathering of a 3D Surface
Hai Zhu,
Jen Jen Chung, Nicholas R.J. Lawrance, Roland Siegwart, Javier Alonso-Mora
published in ICRA 2021. You can find the full-text paper here.
If you find this code useful in your research then please cite:
@inproceedings{Zhu2021ICRA,
author = {Zhu, Hai and Chung, Jen Jen and Lawrance, Nicholas R.J. and Siegwart, Roland and Alonso-Mora, Javier},
booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1488--1494},
publisher = {IEEE},
title = {{Online Informative Path Planning for Active Information Gathering of a 3D Surface}},
year = {2021}
}
The code has been tested in Ubuntu 18.04 with MATLAB R2019b.
- Open a MATLAB instance, and run
setPath.mto add necessary paths. - Informative planning:
mGP_cmaes_full.m - Simple coverage:
mGP_coverage.m - Random inspection:
mGP_random.m - Plot inspection results:
plot_planning_inspection.m - Animate inspection process:
plot_results_animation.m