TY - GEN
T1 - Thinning-based topological exploration using position probability of topological nodes
AU - Kwon, Tae Bum
AU - Song, Jae Bok
PY - 2006
Y1 - 2006
N2 - Exploration is the fundamental task of guiding a robot autonomously during mapping so that it covers the entire environment with its sensors. In the frontier-based exploration, a robot visits the unknown regions, but the sufficient information on the obstacles was not exploited. In the topological exploration, the robot was forced to visit all the topological nodes, but it was inefficient and time-consuming. In this paper, an efficient exploration called a thinning-based topological exploration (TTE) is proposed. This scheme is based on the position probability of the end nodes of a topological map built in real time. The robot then updates the position probability of each end node sustaining its position at the current location using the range data. By analyzing this position probability, the robot can determine whether or not it needs to visit the specific end node to examine the environment around this node. Various experiments show that the proposed TTE algorithm can perform exploration more accurately than the frontier-based exploration approach and more efficiently than the other topological exploration schemes, because in most cases, exploration for the entire environment can be completed without directly visiting everywhere.
AB - Exploration is the fundamental task of guiding a robot autonomously during mapping so that it covers the entire environment with its sensors. In the frontier-based exploration, a robot visits the unknown regions, but the sufficient information on the obstacles was not exploited. In the topological exploration, the robot was forced to visit all the topological nodes, but it was inefficient and time-consuming. In this paper, an efficient exploration called a thinning-based topological exploration (TTE) is proposed. This scheme is based on the position probability of the end nodes of a topological map built in real time. The robot then updates the position probability of each end node sustaining its position at the current location using the range data. By analyzing this position probability, the robot can determine whether or not it needs to visit the specific end node to examine the environment around this node. Various experiments show that the proposed TTE algorithm can perform exploration more accurately than the frontier-based exploration approach and more efficiently than the other topological exploration schemes, because in most cases, exploration for the entire environment can be completed without directly visiting everywhere.
KW - Exploration
KW - Position probability
KW - Thinning-based topological exploration (TTE)
UR - http://www.scopus.com/inward/record.url?scp=33845669616&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641807
DO - 10.1109/ROBOT.2006.1641807
M3 - Conference contribution
AN - SCOPUS:33845669616
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 797
EP - 802
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -