TY - GEN
T1 - Random Exploration Framework for an Autonomous Real-Time Generation of a Map
AU - Munoz-Panduro, Emanuel
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/6
Y1 - 2018/11/6
N2 - Exploration of unknown environments is one of the tasks that mobile robots should perform in different practical situations, such as dangerous or difficult-to-access environments. In spite of its importance, this problem is still not solved and many applications use remote control instead of autonomy. This work presents a complete framework for autonomous exploration inspired on the Rapidly-exploring Random Tree method. The proposed algorithm randomly selects obstacle-free goal positions for continuous exploration and mapping of the real space in which the robot moves. These goals are used to drive the robot using a PID controller. The environmental map is presented as a visible matrix and is generated using grid mapping techniques and scale transformations. Experimental results show the application of the proposed framework using a differential mobile robot with an onboard Kinect sensor.
AB - Exploration of unknown environments is one of the tasks that mobile robots should perform in different practical situations, such as dangerous or difficult-to-access environments. In spite of its importance, this problem is still not solved and many applications use remote control instead of autonomy. This work presents a complete framework for autonomous exploration inspired on the Rapidly-exploring Random Tree method. The proposed algorithm randomly selects obstacle-free goal positions for continuous exploration and mapping of the real space in which the robot moves. These goals are used to drive the robot using a PID controller. The environmental map is presented as a visible matrix and is generated using grid mapping techniques and scale transformations. Experimental results show the application of the proposed framework using a differential mobile robot with an onboard Kinect sensor.
UR - https://www.scopus.com/pages/publications/85058025406
U2 - 10.1109/INTERCON.2018.8526472
DO - 10.1109/INTERCON.2018.8526472
M3 - Conference contribution
AN - SCOPUS:85058025406
T3 - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
BT - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 25th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
Y2 - 8 August 2018 through 10 August 2018
ER -