Pattern and frontier-based, efficient and effective exploration of autonomous mobile robots in unknown environments

Hiroyuki Fujimoto, Junya Morimoto, Takuya Hayashi, Junji Yamato, Hiroyuki Ishii, Jun Ohya, Atsuo Takanishi

研究成果: Conference article査読

抄録

This paper proposes a method with which mobile robots can explore unknown environments efficiently and effectively. For mobile robots, developing exploration methods in unknown environments is a challenging target. Navigation for environment monitoring is necessary in order to explore efficiently in unknown environment. Although a frontier-based exploration can be seen as a conventional method, this method is not necessarily a global optimal planning method, because it explores for the local optimal in each situation; in the monitoring task, it could fall into the local solution, because it could not take into consideration the overall observation efficiency. The proposed method exploits the whole observation and knowledge about the area of the unknown environment. It is possible for the proposed method to establish a global plan in consideration of efficiency and effectiveness by integrating pattern and frontier-based exploration. In simulation, it is shown that the proposed method of pattern and frontier-based exploration is useful for exploring unknown environments efficiently and effectively.

本文言語English
論文番号AVM-039
ジャーナルIS and T International Symposium on Electronic Imaging Science and Technology
2019
15
DOI
出版ステータスPublished - 2019 1月 13
イベント2019 Autonomous Vehicles and Machines Conference, AVM 2019 - Burlingame, United States
継続期間: 2019 1月 132019 1月 17

ASJC Scopus subject areas

  • コンピュータ グラフィックスおよびコンピュータ支援設計
  • コンピュータ サイエンスの応用
  • 人間とコンピュータの相互作用
  • ソフトウェア
  • 電子工学および電気工学
  • 原子分子物理学および光学

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