Efficient Environment Guided Approach for Exploration of Complex Environments
| Autor: | Vijay Pawar, Emil T. Jonasson, Robert Stuart-Smith, Daniel Butters |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science media_common.quotation_subject Contrast (statistics) Sample (statistics) 02 engineering and technology Workspace 01 natural sciences 010305 fluids & plasmas Task (project management) 020901 industrial engineering & automation Human–computer interaction 0103 physical sciences Robot Function (engineering) Robotic arm media_common |
| Zdroj: | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) IROS |
| DOI: | 10.1109/iros40897.2019.8968563 |
| Popis: | Remote inspection of a complex environment is a difficult, time consuming task for human operators to perform. The need to manually avoid obstacles whilst considering other performance factors i.e. time taken, joint effort and information gained represents significant challenges to continuous operation. This paper proposes an autonomous robotic solution for exploration of an unknown, complex environment using a high DoF robot arm with an eye in hand depth sensor. The main contribution of this work is a new strategy to find the next best view by evaluating frontier regions of the map to maximise coverage, in contrast to many current approaches which densely sample joint or workspace configurations of the robot. Multiple utility functions were evaluated that showed different behaviours. Our results indicated that the presented algorithm can explore an arbitrary environment efficiently while optimising various performance criteria based on the utility function chosen, application constraints and the desires of the user. |
| Databáze: | OpenAIRE |
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