| 305 | 17 | 13 |
| Downloads | Citas | Reads |
Simultaneous environment exploration and map building of the autonomous robot in unknown environment were studied. Based on the real-time data acquired from the laser sensor,environment exploration strategy with the function of obstacle avoidance was proposed. Furthermore,a topological map model was proposed which used the nodes of the GNG network as the topological network nodes. With the growth characteristics of the GNG network,new topological network nodes were added into the network to abstract and express the holistic knowledge of the surrounding environment and to construct the environment map. Simulation results demonstrated its effectiveness.
[1]Yamauchi B.A frontier-based approach for autonomous exploration[C]//Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation.Monterey,1997:146-151.
[2]Tovar B,Murrieta-Cid R,Esteves C.Robot motion planning for map building[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.Lausanne,2002:673-680.
[3]Basilico N,Amigoni F.Exploration strategies based on multicriteria decision making for search and rescue autonomous robots[C]//Proceedings of 10th International Conference on Autonomous Agents and Multiagent Systems.Taipei,2011:99-106.
[4]Jens W,Karsten B.Ground plan based exploration with a mobile indoor robot[C]//Proceedings of the 7th German Conference on Robotics.Munich,2012:452-457.
[5]Hirashita S,Yairi T.Information-based exploration strategy for mobile robot in dynamic environment[C]//Proceedings of the8th IEEE International Symposium on Computational Intelligence in Robotics and Automation.Daejeon,2009:90-95.
[6]Taillandier P,Stinckwich S.Using the PROMETHEE multi-criteria decision making method to define new exploration strategies for rescue robots[C]//Proceedings of the IEEE International Symposium on Safety,Security,and Rescue Robotics.Kyoto,2011:321-326.
[7]Freda L,Oriolo G.Frontier-based probabilistic strategies for sensor-based exploration[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Barcelona,2005:2892-2898.
[8]Stachniss C,Burgard W.Exploring unknown environments with mobile robots using coverage maps[C]//Proceedings of the18th International Joint Conference on Artificial Intelligence.San Francisco,2003:1127-1132.
[9]González-Baos H H,Latombe J.Navigation strategies for exploring indoor environments[J].International Journal of Robotic Research,2002,21(10/11):829-848.
[10]Dirk H,Nicola B,Francesco A.A comparative evaluation of exploration strategies and heuristics to improve them[C]//Proceedings of the European Conference on Mobile Robotics.Oerebro,2011:1-6.
[11]张明状,庄严,王伟,等.移动机器人即时环境探索与地图库构建[J].东南大学学报:自然科学版,2009,39(1):111-115.
[12]仲朝亮,刘士荣,杨帆.动态环境下基于GNG网络的拓扑地图构建[J].华东理工大学学报:自然科学版,2012,38(1):63-68.
[13]Fritzke B.A growing neural gas network learns topologies[J].Advances in Neural Information Processing Systems,1995(7):625-632.
[14]仲朝亮,刘士荣,邱雪娜.未知环境下基于GNG网络的环境地图自主认知[C]//第29届中国控制会议.北京,2010:3768-3772.
Basic Information:
China Classification Code:TP242.6
Citation Information:
[1]WANG Dong-shu,WANG Hai-tao,School of Electrical Engineering,Zhengzhou University.Environment Exploration and Map Building of Autonomous Robot in Unknown Environment[J].Journal of Zhengzhou University(Natural Science Edition),2013,45(04):52-57.
Fund Information:
国家自然科学基金资助项目,编号61174085;; 教育部高等学校博士学科点专项科研基金资助项目,编号20114101110005
2013-12-15
2013-12-15