지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.12
- 수록면
- 256 - 265 (10page)
이용수
초록· 키워드
오류제보하기
A local map-based exploration algorithm for mobile robots is presented. Segmented frontiers and their relative transformations constitute a tree structure. By the proposed efficient frontier segmentation and a local map management method, a robot can reduce the unknown area and update the local grid map which is assigned to each frontier node. Although this local map-based exploration method uses only local maps and their adjacent node information, mapping completion and efficiency can be greatly improved by merging and updating the frontier nodes. Also, we suggest appropriate graph search exploration methods for corridor and hall environments. The simulation demonstrates that the entire environment can be represented by well-distributed frontier nodes.
목차
Abstract
1. 서론
2. 시스템 개요
3. 프론티어 트리
4. 그래프 탐색을 이용한 다음 목표 결정
5. 시뮬레이션 결과
6. 결론
References
참고문헌 (16)
참고문헌 신청
1. [학술지(정기간행물)] - H. Choset / 2001 / Topological simultaneous localization and mapping(SLAM) : toward exact localization without explicit localization / IEEE Trans. Robotics and Automation 17 (2) : 125 ~ 137
2. [학술지(정기간행물)] - M. G. Dissanayake / 2001 / A solution to the simultaneous localization and map building(SLAM)problem / IEEE Trans. Robotics and Automation 17 (3) : 229 ~ 241
3. [학술대회논문] - M. Montemerlo / 2003 / FastSLAM 2. 0 : an improved particle filtering algorithm for simultaneous localization and mapping that provably converges / in Proc. of International Joint Conference on Artificial Intelligence : 1151 ~ 1156
4. [학술대회논문] - B. Yamauchi / 1997 / A frontier-based approach for autonomous exploration / in Proc. of Computational Intelligence in Robotics and Automation 146 (151) : 146 ~ 151
5. [학술대회논문] - F. Bourgault / 2002 / Information based adaptive robotic exploration / in Proc. of International Conference on Intelligent Robots and Systems : 540 ~ 545
2. [학술지(정기간행물)] - M. G. Dissanayake / 2001 / A solution to the simultaneous localization and map building(SLAM)problem / IEEE Trans. Robotics and Automation 17 (3) : 229 ~ 241
3. [학술대회논문] - M. Montemerlo / 2003 / FastSLAM 2. 0 : an improved particle filtering algorithm for simultaneous localization and mapping that provably converges / in Proc. of International Joint Conference on Artificial Intelligence : 1151 ~ 1156
4. [학술대회논문] - B. Yamauchi / 1997 / A frontier-based approach for autonomous exploration / in Proc. of Computational Intelligence in Robotics and Automation 146 (151) : 146 ~ 151
5. [학술대회논문] - F. Bourgault / 2002 / Information based adaptive robotic exploration / in Proc. of International Conference on Intelligent Robots and Systems : 540 ~ 545
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UCI(KEPA) : I410-ECN-0101-2020-559-001258486