OS7-5 Path planning for Indoor Partially Unknown Environment Exploration and Mapping

Title:	OS7-5 Path planning for Indoor Partially Unknown Environment Exploration and Mapping
Publication:	ICAROB2018
Volume:	23
Pages:	399-402
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2018.OS7-5
Author(s):	Aufar Zakiev, Roman Lavrenov, Evgeni Magid, Vadim Indelman
Publication Date:	February 2, 2018
Keywords:	robotics, algorithm, modelling, mapping, ROS/Gazebo, indoor exploration, path planning
Abstract:	This paper addresses a problem of partially unknown environment exploration and mapping. The proposed path planning algorithm provides global and local goals search taking into account limited sensing range and visibility constraints that arise from obstacles. Looking for local goals near a global path maximizes robot utility and helps avoiding returns to regions with low potential gain. All stages were tested in ROS/Gazebo simulations and results were compared with a naive algorithm that was proposed earlier.
PDF File:	https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS7/OS7-5.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/