Exploration strategies for building compact maps in unbounded environments

Authors:
Matthias Nieuwenhuisen;Dirk Schulz;Sven Behnke
Affiliations:
Autonomous Intelligent Systems Group, University of Bonn, Germany;Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany;Autonomous Intelligent Systems Group, University of Bonn, Germany
Venue:
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2011

Citing 4
Cited 0

Using Occupancy Grids for Mobile Robot Perception and Navigation

Computer
Collaborative Exploration of Unknown Environments with Teams of Mobile Robots

Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
A frontier-based approach for autonomous exploration

CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Autonomous surface exploration for mobile robots

Autonomous surface exploration for mobile robots

Quantified Score

Hi-index	0.00

Visualization

Abstract

Exploration strategies are an important ingredient for map building with mobile robots. The traditional greedy exploration strategy is not directly applicable in unbounded outdoor environments, because it decides on the robot's actions solely based on the expected information gain and travel cost. As this value can be optimized by driving straight into unexplored space, this behavior often leads to degenerated maps. We propose two different techniques to regularize the value function of the exploration strategy, in order to explore compact areas in outdoor environments. We compare exploration speed and compactness of the maps with and without our extensions.