Naslov
Path Planning for Active SLAM Based on the D* Algorithm With Negative Edge Weights

Autori
Maurović, Ivan ; Seder, Marija ; Lenac, Kruno ; Petrović, Ivan

Izvornik
IEEE Transactions on Systems Man Cybernetics- Systems (2168-2216) 48 (2018), 8; 1321-1331

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
simultaneous localization and mapping (SLAM) ; active SLAM ; dynamic environment ; exploration ; negative edge weight in a graph ; path planning

Sažetak
In this paper, the problem of path planning for active simultaneous localization and mapping (SLAM) is addressed. In order to improve its localization accuracy while autonomously exploring an unknown environment the robot needs to revisit positions seen before. To that end, we propose a path planning algorithm for active SLAM that continuously improves robot's localization while moving smoothly, without stopping, toward a goal position. The algorithm is based on the D* shortest path graph search algorithm with negative edge weights for finding the shortest path taking into account localization uncertainty. The proposed path planning algorithm is suitable for exploration of highly dynamic environments with moving obstacles and dynamic changes in localization demands. While the algorithm operation is illustrated in simulation experiments, its effectiveness is verified experimentally in real-world scenarios.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Informacijske i komunikacijske znanosti

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