TIIS (한국인터넷정보학회)
Current Result Document :
| 한글제목(Korean Title) |
Rmap+: Autonomous Path Planning for Exploration of Mobile Robot Based on Inner Pair of Outer Frontiers |
| 영문제목(English Title) |
Rmap+: Autonomous Path Planning for Exploration of Mobile Robot Based on Inner Pair of Outer Frontiers |
| 저자(Author) |
Abror Buriboev
Hyun Kyu Kang
Jun Dong Lee
Ryumduck Oh
Heung Seok Jeon
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| 원문수록처(Citation) |
VOL 16 NO. 10 PP. 3373 ~ 3389 (2022. 10) |
한글내용
(Korean Abstract) |
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영문내용
(English Abstract) |
Exploration of mobile robot without prior data about environments is a fundamental problem during the SLAM processes. In this work, we propose improved version of previous Rmap algorithm by modifying its Exploration submodule. Despite the previous Rmap’s performance which significantly reduces the overhead of the grid map, its exploration module costs a lot because of its rectangle following algorithm. To prevent that, we propose a new Rmap algorithm for autonomous path planning of mobile robot to explore an unknown environment. The algorithm bases on paired frontiers. To navigate and extend an exploration area of mobile robot, the Rmap utilizes the inner and outer frontiers. In each exploration round, the mobile robot using the sensor range determines the frontiers. Then robot periodically changes the range of sensor and generates inner pairs of frontiers. After calculating the length of each frontiers’ and its corresponding pairs, the Rmap selects the goal point to navigate the robot. The experimental results represent efficiency and applicability on exploration time and distance, i.e., to complete the whole exploration, the path distance decreased from 15% to 69%, as well as the robot decreased the time consumption from 12% to 86% than previous algorithms. |
| 키워드(Keyword) |
Autonomous exploration
mobile robot
inner and outer frontier
navigation
path planning
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| 파일첨부 |
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