A Novel Frontier-Based Exploration Algorithm for Mobile Robots
| Autor: | Daniel Louback da Silva Lubanco, Thomas Schlechter, Markus Pichler-Scheder |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Computer science media_common.quotation_subject Mobile robot 02 engineering and technology Frontier 020901 industrial engineering & automation Histogram Middleware 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Cluster analysis Function (engineering) Algorithm media_common |
| Zdroj: | ICMRE |
| DOI: | 10.1109/icmre49073.2020.9064866 |
| Popis: | This paper aims to bring a novel approach to the exploration paradigm of mobile robots. Consequently, it uses the frontier-exploration method alongside a utility function in order to determine new goals to be achieved by the robot. The proposed approach was implemented using the Robot Operating System as the middleware, and makes use of several packages for, e.g., mapping and navigation. The algorithm implemented in this paper was motivated by the original work on frontier exploration developed by Yamauchi [1] as well as the more recent development, e.g., histogram-based frontier exploration. In addition, this paper aims to include additional parameters in order to enhance the decisions made by the exploration algorithm. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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