Computational geometry: algorithms and applications
Computational geometry: algorithms and applications
Voronoi diagrams and Delaunay triangulations
Handbook of discrete and computational geometry
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Robotics and Autonomous Systems
Fast Laser Scan Matching using Polar Coordinates
International Journal of Robotics Research
Neural dynamics based exploration algorithm for a mobile robot
ICANN'07 Proceedings of the 17th international conference on Artificial neural networks
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SLAM is a well-studied technique for robots to build a map of environments while at the same time keeping track of their pose (position and orientation). However, SLAM does not provide motion control approaches for how the robot explores the environment. This paper presents an integrated approach to create a fully autonomous exploring and mapping robot. An Extended Kalman Filter (EKF)-SLAM approach is used to fuse Advanced Sonar measurements and the results of Laser Polar Scan Matching. The inclusion of Advanced Sonar data tackles the problem of map drifts in environments where lasers do not supply sufficient information, such as along a corridor. In addition, the proposed exploration strategy takes advantage of the characteristic of the Voronoi graph to enable the robot to strategically explore the environment in a loop-closing fashion and a safe manner. By revisiting areas to close loops as early as possible, the robot builds a more stable map incrementally while still reliably tracking its pose. Experimental results of the integrated approach are shown to demonstrate the paper's approach that provides real-time exploration of a mobile robot in an initially unknown real environment. Experimental map quality comparisons using exploration strategies show the benefits of early local loop-closing.