Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICAR.2005.1507453
Title: Visibility-based exploration in unknown environment containing structured obstacles
Authors: Bandyopadhyay, T.
Liu, Z.
Ang Jr., M.H. 
Seah, W.K.G.
Keywords: Coverage
Exploration
Polygonal obstacles
Prediction
Visibility
Issue Date: 2005
Source: Bandyopadhyay, T.,Liu, Z.,Ang Jr., M.H.,Seah, W.K.G. (2005). Visibility-based exploration in unknown environment containing structured obstacles. 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings 2005 : 484-491. ScholarBank@NUS Repository. https://doi.org/10.1109/ICAR.2005.1507453
Abstract: How to enable a robot to explore in an unknown environment containing obstacles via local sensing is an important research issue for robot navigation, map building, and localization. In this paper, a reactive and visibility-based exploration algorithm is proposed. By line-of-sight sensors, the robot can find the occlusion points between covered and uncovered regions, and then approach these occlusion points to "sweep" the area. In addition, a prediction model based on local sensing is applied to refine the trajectory when the robot is moving; therefore as the robot tries to cover unknown area, it also tries to maximize the monitoring of covered area. Simulation experiment shows the efficacy of our approach. © 2005 IEEE.
Source Title: 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
URI: http://scholarbank.nus.edu.sg/handle/10635/74005
ISBN: 0780391772
DOI: 10.1109/ICAR.2005.1507453
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

8
checked on Dec 13, 2017

Page view(s)

32
checked on Dec 9, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.