A Fast 3D Exploration Algorithm for Autonomous Aerial Robots

被引：0

作者：

Marangoz, Salih ^{[1
]}

Ergun, Ezgi Ekin ^{[1
]}

Uslu, Erkan ^{[1
]}

Cakmak, Furkan ^{[1
]}

Altuntas, Nihal ^{[1
]}

Amasyali, Mehmet Fatih ^{[1
]}

Yavuz, Sirma ^{[1
]}

机构：

[1] Yildiz Tekn Univ, Bilgisayar Muhendisligi Bolumu, Istanbul, Turkey

来源：

2017 25TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU) | 2017年

关键词：

Aerial Robot; Autonomous; Three Dimensional AStar; Three Dimensional CCL; Three Dimensional Costmap; 3D Exploration; Gazebo; ROS;

D O I：

暂无

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

In the scope of the study, it was aimed to discover a closed multi-storey environment with autonomous air robots and produce a three dimensional map. In order to reduce the complexity of the three-dimensional exploration algorithm, we have developed Target Elimination Method that can calculate the result by narrowing the problem space. The Target Elimination Method ensures that the exploration algorithm is faster to explore the environment as it reduces the calculation time.

引用

页数：4

共 10 条

[1] Furrer F, 2016, STUD COMPUT INTELL, V625, P595, DOI 10.1007/978-3-319-26054-9_23
[2] A FORMAL BASIS FOR HEURISTIC DETERMINATION OF MINIMUM COST PATHS
HART, PE
NILSSON, NJ
RAPHAEL, B
[J]. IEEE TRANSACTIONS ON SYSTEMS SCIENCE AND CYBERNETICS, 1968, SSC4 (02): : 100 - +
[3] OctoMap: an efficient probabilistic 3D mapping framework based on octrees
Hornung, Armin
Wurm, Kai M.
Bennewitz, Maren
Stachniss, Cyrill
Burgard, Wolfram
[J]. AUTONOMOUS ROBOTS, 2013, 34 (03) : 189 - 206
[4] A comparison of path planning strategies for autonomous exploration and mapping of unknown environments
Julia, Miguel
Gil, Arturo
Reinoso, Oscar
[J]. AUTONOMOUS ROBOTS, 2012, 33 (04) : 427 - 444
[5] Quigley M., 2009, P ICRA WORKSH OP SOU, V3, P5
[6] Shade R, 2011, IEEE INT CONF ROBOT
[7] Shen Shaojie, 2012, 2012 IEEE INT C IEEE
[8] Triesscheijn Roy, 2011, ANOTHER FASTER VERSI
[9] WATERSHEDS IN DIGITAL SPACES - AN EFFICIENT ALGORITHM BASED ON IMMERSION SIMULATIONS
VINCENT, L
SOILLE, P
[J]. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1991, 13 (06) : 583 - 598
[10] Yamauchi Brian, 1997, P 1997 IEEE INT S IE

← 1 →