Random Exploration Framework for an Autonomous Real-Time Generation of a Map

Emanuel Munoz-Panduro, Oscar E. Ramos

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538654903
DOI
EstadoPublicada - 6 nov. 2018
Evento25th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018 - Lima, Perú
Duración: 8 ago. 201810 ago. 2018

Serie de la publicación

NombreProceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018

Conferencia

Conferencia25th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
País/TerritorioPerú
CiudadLima
Período8/08/1810/08/18

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