Autonomous Mobile Robot Exploration in Negative Obstacle Environment

被引：0

作者：

Keskin, Numan ^{[1
]}

Uslu, Erkan ^{[1
]}

Cakmak, Furkan ^{[1
]}

Altuntas, Nihal ^{[1
]}

Amasyali, M. 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：

2D localization; 3D mapping; 2D navigation; 2D exploration; OctoMap; autonomous mobile robot; negative obstacles;

D O I：

暂无

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

Restricted 3D simultaneous localization and mapping (SLAM) can be achived in an environment that has negative and positive obstacles, using a 2D SLAM and a 3D mapping together. Exploration can utilize 2D navigation, which uses a 2D map constructed with respect to 3D map obstacles both negative and positive, and free areas. Robocup, Rescue League, Exploration 4 competition is designed to measure real platform autonomous mobile robot exploration capabilities in an negative obstacle scene. In this paper aforementioned exploration approach is implemented in a simulation environment created in Gazebo similar to Exploration 4 arena, using Robot Operating System (ROS).

引用

页数：4

共 13 条

[1] [Anonymous], AI MAGAZINE
[2] [Anonymous], 2000, C UNCERTAINTY ARTIFI
[3] Balcerzak M, 2016, INT J HYDROGEN ENERG, P1
[4] Burschkal D., 2002, ROB AUT 2002 P ICRA, V2, P2066
[5] The dynamic window approach to collision avoidance
Fox, D
Burgard, W
Thrun, S
[J]. IEEE ROBOTICS & AUTOMATION MAGAZINE, 1997, 4 (01) : 23 - 33
[6] Improved techniques for grid mapping with Rao-Blackwellized particle filters
Grisetti, Giorgio
Stachniss, Cyrill
Burgard, Wolfram
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (01) : 34 - 46
[7] 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
[8] Koenig N., 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), P2149
[9] Larson J, 2011, IEEE INT C INTELL TR, P192, DOI 10.1109/ITSC.2011.6083105
[10] Matthies L, 2003, IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P906

← 1 2 →