Visibility-based exploration in unknown environment containing structured obstacles

Author

Bandyopadhyay, Tirthankar ; Liu, Zheng ; Ang, Marcelo H., Jr. ; Seah, Winston Khoon Guan

Author_Institution

Dept. of Mech. Eng., Singapore Nat. Univ.

fYear

2005

fDate

18-20 July 2005

Firstpage

484

Lastpage

491

Abstract

How to enable a robot to explore in an unknown environment containing obstacles via local sensing is an important research issue for robot navigation, map building, and localization. In this paper, a reactive and visibility-based exploration algorithm is proposed. By line-of-sight sensors, the robot can find the occlusion points between covered and uncovered regions, and then approach these occlusion points to "sweep" the area. In addition, a prediction model based on local sensing is applied to refine the trajectory when the robot is moving; therefore as the robot tries to cover unknown area, it also tries to maximize the monitoring of covered area. Simulation experiment shows the efficacy of our approach

Keywords

image sensors; prediction theory; robot vision; line-of-sight sensors; local sensing; prediction model; reactive exploration; robot vision; visibility-based exploration; Computer vision; Mechanical engineering; Mobile robots; Monitoring; Navigation; Predictive models; Robot localization; Robot sensing systems; Robot vision systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

0-7803-9178-0

Type

conf

DOI

10.1109/ICAR.2005.1507453

Filename

1507453