Path planning for Indoor Partially Unknown Environment Exploration and Mapping

被引：0

作者：

Zakiev, Aufar ^{[1
]}

Lavrenov, Roman ^{[1
]}

Magid, Evgeni ^{[1
]}

Indelman, Vadim ^{[2
]}

机构：

[1] Kazan Fed Univ, Higher Inst Informat Technol & Informat Syst ITIS, Intelligent Robot Syst Lab, 35 Kremlyovskaya St, Kazan 420008, Russia

[2] Technion Israel Inst Technol, Autonomous Nav & Percept Lab, Haifa, Israel

来源：

ICAROB 2018: PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS | 2018年

基金：

俄罗斯基础研究基金会;

关键词：

robotics; algorithm; modelling; mapping; ROS/Gazebo; indoor exploration; path planning;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper addresses a problem of partially unknown environment exploration and mapping. The proposed path planning algorithm provides global and local goals search taking into account limited sensing range and visibility constraints that arise from obstacles. Looking for local goals near a global path maximizes robot utility and helps avoiding returns to regions with low potential gain. All stages were tested in ROS/Gazebo simulations and results were compared with a naive algorithm that was proposed earlier.

引用

页码：399 / 402

页数：4

共 50 条

[41] Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles
Cui, Peng
Yan, Weisheng
Cui, Rongxin
Yu, Jiahui
COMPLEXITY, 2018,
[42] Path planning in unknown environment with obstacles using virtual window
Mansor, MA
Morris, AS
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1999, 24 (03) : 235 - 251
[43] Rolling path planning of mobile robot in dynamic unknown environment
Zhang, Chun-Gang
Xi, Yu-Geng
Jiqiren/Robot, 2002, 24 (01):
[44] Informative path planning for anomaly detection in environment exploration and monitoring
Blanchard, Antoine
Sapsis, Themistoklis
OCEAN ENGINEERING, 2022, 243
[45] Simultaneous Path Planning and Topological Mapping (SP2ATM) for environment exploration and goal oriented navigation
Ge, Shuzhi Sam
Zhang, Qun
Abraham, Aswin Thomas
Rebsamen, Brice
ROBOTICS AND AUTONOMOUS SYSTEMS, 2011, 59 (3-4) : 228 - 242
[46] Efficient Informative Path Planning via Normalized Utility in Unknown Environments Exploration
Yu, Tianyou
Deng, Baosong
Gui, Jianjun
Zhu, Xiaozhou
Yao, Wen
SENSORS, 2022, 22 (21)
[47] Dynamic Path Planning of Unknown Environment Based on Deep Reinforcement Learning
Lei, Xiaoyun
Zhang, Zhian
Dong, Peifang
JOURNAL OF ROBOTICS, 2018, 2018
[48] A SRT-Based Path Planning Algorithm in Unknown Complex Environment
Zou Yiping
Guo Jian
Zhang Ruilei
Chen Qingwei
26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, : 3857 - 3862
[49] AGV path planning in unknown environment using fuzzy inference systems
Majdi, Morteza
Deldar, Majid
Barzamini, Roohollah
Jouzdani, Javid
2006 1ST IEEE INTERNATIONAL CONFERENCE ON E-LEARNING IN INDUSTRIAL ELECTRONICS, 2006, : 64 - +
[50] UUV Dynamic Path Planning and Trap Escape Strategies in Unknown Environment
Zhang Xuelian
Wang Hongjian
Lv Hongli
Li Qing
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 6988 - 6992

← 1 2 3 4 5 →