在包含结构化障碍的未知环境中基于可见性的探索

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI:10.1109/ICAR.2005.1507453

T. Bandyopadhyay, Zheng Liu, M. Ang, W. Seah

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引用次数: 11

摘要

如何通过局部感知使机器人在未知环境中进行障碍物探索，是机器人导航、地图绘制和定位的重要研究课题。本文提出了一种基于反应性和可见性的搜索算法。通过视距传感器，机器人可以找到覆盖区域和未覆盖区域之间的遮挡点，然后接近这些遮挡点进行“扫描”。此外，应用基于局部感知的预测模型对机器人运动轨迹进行细化;因此，在机器人试图覆盖未知区域的同时，它也试图最大限度地监控覆盖区域。仿真实验证明了该方法的有效性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Visibility-based exploration in unknown environment containing structured obstacles

How to enable a robot to explore in an unknown environment containing obstacles via local sensing is an important research issue for robot navigation, map building, and localization. In this paper, a reactive and visibility-based exploration algorithm is proposed. By line-of-sight sensors, the robot can find the occlusion points between covered and uncovered regions, and then approach these occlusion points to "sweep" the area. In addition, a prediction model based on local sensing is applied to refine the trajectory when the robot is moving; therefore as the robot tries to cover unknown area, it also tries to maximize the monitoring of covered area. Simulation experiment shows the efficacy of our approach

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ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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