Computational principles of mobile robotics
Computational principles of mobile robotics
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
Loop exploration for slam with fusion of advanced sonar features and laser polar scan matching
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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A primary goal for an autonomous mobile robot is to explore and perfrom simultaneous localization and mapping (SLAM). During SLAM, the robot must balance the opposing desires of pose certainty maintenance and information gain. Much of previous research has ignored the need of pose maintenance. This paper provides the first step in developing a neural dynamics based algorithm which considers both information gain and pose maintenance when determining the robot's next pose. Simulation results show that the algorithm is able to provide the robot with an exploration plan to fully explore the tested environments. The next step is to apply the algorithm in a full SLAM environment.