Nalazite se na CroRIS probnoj okolini. Ovdje evidentirani podaci neće biti pohranjeni u Informacijskom sustavu znanosti RH. Ako je ovo greška, CroRIS produkcijskoj okolini moguće je pristupi putem poveznice www.croris.hr
izvor podataka: crosbi !

Exploration and Mapping of Unknown Polygonal Environments Based on Uncertain Range Data (CROSBI ID 173202)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Đakulović, Marija ; Ileš, Šandor ; Petrović, Ivan Exploration and Mapping of Unknown Polygonal Environments Based on Uncertain Range Data // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije, 52 (2011), 2; 118-131

Podaci o odgovornosti

Đakulović, Marija ; Ileš, Šandor ; Petrović, Ivan

engleski

Exploration and Mapping of Unknown Polygonal Environments Based on Uncertain Range Data

We consider problem of exploration and mapping of unknown indoor environments using laser range finder. We assume a setup with a resolved localization problem and known uncertainty sensor models. Most exploration algorithms are based on detection of a boundary between explored and unexplored regions. They are, however, not efficient in practice due to uncertainties in measurement, localization and map building. The exploration and mapping algorithm is proposed that extends Ekman’s exploration algorithm by removing rigid constraints on the range sensor and robot localization. The proposed algorithm includes line extraction algorithm developed by Pfister, which incorporates noise models of the range sensor and robot’s pose uncertainty. A line representation of the range data is used for creating polygon that represents explored region from each measurement pose. The polygon edges that do not correspond to real environmental features are candidates for a new measurement pose. A general polygon clipping algorithm is used to obtain the total explored region as the union of polygons from different measurement poses. The proposed algorithm is tested and compared to the Ekman’s algorithm by simulations and experimentally on a Pioneer 3DX mobile robot equipped with SICK LMS-200 laser range finder.

exploration; mapping; line extraction; mobile robot

nije evidentirano

nije evidentirano

nije evidentirano

nije evidentirano

nije evidentirano

nije evidentirano

Podaci o izdanju

52 (2)

2011.

118-131

objavljeno

0005-1144

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

Indeksiranost