Kazan (Volga region) Federal University, KFU
KAZAN
FEDERAL UNIVERSITY
 
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PARTIALLY UNKNOWN ENVIRONMENT EXPLORATION ALGORITHM FOR A MOBILE ROBOT
Form of presentationArticles in international journals and collections
Year of publication2019
Языканглийский
  • Zakiev Aufar Azatovich, author
  • Lavrenov Roman Olegovich, author
  • Magid Evgeniy Arkadevich, author
  • Macuno Fumitoshi , author
  • Svinin Mikhail , author
  • Bibliographic description in the original language Zakiev A., Lavrenov R., Magid E., Svinin M., Matsuno F. Partially unknown environment exploration algorithm for a mobile robot//Journal of Advanced Research in Dynamical and Control Systems. - 2019. - Vol.11, Is.8 Special Issue. - P.1743-1753.
    Annotation This paper introduces a new indoor environment exploration method, which is designed to consider robot sensory perception constraints and indoor spaces predictable structure. Our new method is compared with a greedy approach exploration. The two algorithms were implemented and tested in simulation and in real-world experiments with a Russian Servosila Engineer crawler rescue robot. Robot Operating System (ROS) framework was used both for simulations in Gazebo environment and for the real robot control. Our method demonstrated better results for large space exploration in simulations as well as within small indoor environment exploration experiments.
    Keywords Mobile robot, mapping, SLAM, navigation, exploration algorithm, Servosila Engineer.
    The name of the journal Journal of Advanced Research in Dynamical and Control Systems
    URL https://www.scopus.com/inward/record.uri?eid=2-s2.0-85073473176&partnerID=40&md5=56bf1436b662422008751f0b457f9c8a
    Please use this ID to quote from or refer to the card https://repository.kpfu.ru/eng/?p_id=212982&p_lang=2
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