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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 | Citation: | 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 |
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