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|Title:||Visibility-based exploration in unknown environment containing structured obstacles|
Ang Jr., M.H.
|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|
|Appears in Collections:||Staff Publications|
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