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Showing SKILL.md
| name | drone-exploration |
| description | 无人机自主探索任务 — 基于 Octomap 的未知环境快速建图，RRT* 路径规划，适用于搜救/巡检场景 |
| argument-hint | 无人机 OR drone OR UAV OR exploration OR 探索 OR 自主导航 OR octomap OR RRT |
| user-invocable | true |
无人机在未知环境中自主探索，快速构建 3D 地图（Octomap），同时规划无碰撞飞行路径。
agents/skills/navigation/ — 导航基础agents/skills/perception/ — 感知（SLAM/Occupancy Grid）agents/skills/motion-control/multi_rotor_uav/ — 飞控agents/skills/ros2-debug/ — 调试agents/skills/ros2-qos-checker/ — QoS（传感器数据用 BEST_EFFORT）1. 从 Octomap 计算前沿（frontier）— 已探索与未探索区域的边界
2. 对每个 frontier 计算信息增益（information gain）
3. 选择信息增益最大的 frontier 作为目标
4. RRT* 路径规划（无碰撞）
5. 执行飞行
| 参数 | 值 | 说明 |
|---|---|---|
| 分辨率 | 0.1 m | 体素大小 |
| 最大范围 | 50 m | 传感器最大距离 |
| 占用阈值 | 0.5 | 体素占用概率 |
| 更新频率 | ≥ 10 Hz | 点云处理频率 |
| 参数 | 值 |
|---|---|
| 最大速度 | 2 m/s |
| 最大加速度 | 1 m/s² |
| 飞行高度 | 2-30 m |
| 控制频率 | 50 Hz |
| 电池续航 | ~25 min |