کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
411289 679525 2015 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Potential information fields for mobile robot exploration
ترجمه فارسی عنوان
زمینه های اطلاعات بالقوه برای اکتشاف ربات موبایل
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی


• Novel exploration method based on joint path and map entropy minimization.
• Minimizing both map and path entropies produces more reliable maps.
• Exploration is pursued by gradient descent over the potential information field.

We present a decision theoretic approach to mobile robot exploration. The method evaluates the reduction of joint path and map entropy and computes a potential information field in robot configuration space using these joint entropy reduction estimates. The exploration trajectory is computed descending on the gradient of this field. The technique uses Pose SLAM as its estimation backbone. Very efficient kernel convolution mechanisms are used to evaluate entropy reduction for each sensor ray, and for each possible robot orientation, taking frontiers and obstacles into account. In the end, the computation of this field on the entire configuration space is shown to be very efficient. The approach is tested in simulations in a pair of publicly available datasets comparing favorably both in quality of estimates and in execution time against an RRT∗-based search for the nearest frontier and also against a locally optimal exploration strategy.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 69, July 2015, Pages 68–79
نویسندگان
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