Minimum-Energy Robotic Exploration: A Formulation and an Approach

Autor:	King-Ip Lin, Serge Salan, Evan Drumwright
Rok vydání:	2015
Předmět:	Process (engineering) Computer science Control engineering Autonomous robot Computer Science Applications Robot control Computer Science::Robotics Human-Computer Interaction Control and Systems Engineering Robot Electrical and Electronic Engineering Software Energy (signal processing) Simulation
Zdroj:	IEEE Transactions on Systems, Man, and Cybernetics: Systems. 45:175-182
ISSN:	2168-2232 2168-2216
Popis:	This technical correspondence is concerned with the problem of autonomous robot exploration in a 3-D world. It provides a better understanding of exploration problems with regard to their mathematical formulation, and present a means to evaluate the performance of future algorithms designed to solve it. In addition, an approach capable of being implemented on articulated robotic systems is proposed. The presented algorithm possesses completeness properties, and typically chooses navigation paths that increase the robot's knowledge of its environment while expending minimal energy. It is compared to other exploration approaches capable of being implemented on high-degree-of-freedom robots. The comparison, performed in simulation, shows the significance of reducing energy during the exploration process.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8b951f47b4a43bb7b4cbae24ebbf9ffc https://doi.org/10.1109/tsmc.2014.2332297 Zobrazit plný text záznamu