Abstract:
Unknown area mapping requires the ability to explore and navigate in an unmapped environment. Current state of the art systems mainly uses frontier detection-based approa...Show MoreMetadata
Abstract:
Unknown area mapping requires the ability to explore and navigate in an unmapped environment. Current state of the art systems mainly uses frontier detection-based approaches based on occupancy grids. In this paper we present a conceptually similar octomap based exploration system that is capable of identifying unexplored regions and an occupancy grid-based motion planning system that uses occupancy grids derived from the octomap for path planning. Exploration system evaluates the octomap utilizing the state of voxels and calculates target locations for navigation using a distance cost function. We have also proposed a performance evaluation criterion for exploration systems that considers the time, power consumption, and stability of the robot. Results of experiments show that the system proposed in this paper is about 38% faster than Explore-Lite system while mapping the same area of exploration.
Date of Conference: 11-13 June 2021
Date Added to IEEE Xplore: 13 July 2021
ISBN Information:
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- IEEE Keywords
- Index Terms
- Navigation System ,
- Results Of Experiments ,
- Cost Function ,
- Path Planning ,
- Occupancy Grid ,
- Performance Evaluation Criteria ,
- Unexplored Regions ,
- Angular Velocity ,
- Grid Cells ,
- Point Cloud ,
- Simulation Environment ,
- Control Mode ,
- Point Cloud Data ,
- Position Of The Robot ,
- Clusters Of Voxels ,
- Backward Movement ,
- Robot Operating System ,
- Tangential Stress ,
- Lateral Stress ,
- Total Path Length ,
- Exploration Task ,
- Occupied States
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Navigation System ,
- Results Of Experiments ,
- Cost Function ,
- Path Planning ,
- Occupancy Grid ,
- Performance Evaluation Criteria ,
- Unexplored Regions ,
- Angular Velocity ,
- Grid Cells ,
- Point Cloud ,
- Simulation Environment ,
- Control Mode ,
- Point Cloud Data ,
- Position Of The Robot ,
- Clusters Of Voxels ,
- Backward Movement ,
- Robot Operating System ,
- Tangential Stress ,
- Lateral Stress ,
- Total Path Length ,
- Exploration Task ,
- Occupied States
- Author Keywords