Active SLAM Utility Function Exploiting Path Entropy
| Autor: | Ahmed, Muhammad Farhan, Fremont, Vincent, Fantoni, Isabelle |
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| Rok vydání: | 2023 |
| Předmět: | |
| Zdroj: | Conference: 2023 IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI) |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/SOLI60636.2023.10425063 |
| Popis: | In this article we present a utility function for Active SLAM (A-SLAM) which utilizes map entropy along with D-Optimality criterion metrices for weighting goal frontier candidates. We propose a utility function for frontier goal selection that exploits the occupancy grid map by utilizing the path entropy and favors unknown map locations for maximum area coverage while maintaining a low localization and mapping uncertainties. We quantify the efficiency of our method using various graph connectivity matrices and map efficiency indexes for an environment exploration task. Using simulation and experimental results against similar approaches we achieve an average of 32% more coverage using publicly available data sets. Comment: 7 pages, 8 figures, Submitted to IEEE SOLI Conference. arXiv admin note: text overlap with arXiv:2212.11654 |
| Databáze: | arXiv |
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