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Potential information fields for mobile robot exploration

Autor
Vallve, J.; Andrade-Cetto, J.
Tipus d'activitat
Article en revista
Revista
Robotics and autonomous systems
Data de publicació
2015-07-01
Volum
69
Pàgina inicial
68
Pàgina final
79
DOI
https://doi.org/10.1016/j.robot.2014.08.009 Obrir en finestra nova
Projecte finançador
Cargo handling by automated next generation transportation systems for ports and terminals
Perception and Action in Robotics Problems with Large State Spaces DPI2011-27510 National Project
Repositori
http://hdl.handle.net/2117/80330 Obrir en finestra nova
URL
http://www.sciencedirect.com/science/article/pii/S0921889014001675 Obrir en finestra nova
Resum
We present a decision theoretic approach to mobile robot exploration. The method evaluates the reduction of joint path and map entropy and computes a potential information field in robot configuration space using these joint entropy reduction estimates. The exploration trajectory is computed descending on the gradient of this field. The technique uses Pose SLAM as its estimation backbone. Very efficient kernel convolution mechanisms are used to evaluate entropy reduction for each sensor ray, and...
Citació
Vallve, J., Andrade-Cetto, J. Potential information fields for mobile robot exploration. "Robotics and autonomous systems", 01 Juliol 2015, vol. 69, p. 68-79.
Paraules clau
Driven, Exploration, Mobile robotics, Navigation, SLAM, Uncertainty
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

Participants