KFU. Card publication. Path planning for Indoor Partially Unknown Environment Exploration and Mapping

KAZAN
FEDERAL UNIVERSITY

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PATH PLANNING FOR INDOOR PARTIALLY UNKNOWN ENVIRONMENT EXPLORATION AND MAPPING

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2018

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Authors, employees of KFU

Zakiev Aufar Azatovich, author

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Zakiev A., Lavrenov R., Magid E., & Indelman V. Path planning for Indoor Partially Unknown Environment Exploration and Mapping // International Conference on Artificial Life and Robotics (ICAROB 2018) (Beppu, Japan; 1-4 February 2018) - p. 399-402.

Annotation

Proceedings of the International Conference On Artificial Life And Robotics

Keywords

robotics, algorithm, modelling, mapping, ROS/Gazebo, indoor exploration, path planning

The name of the journal

Proceedings of the International Conference On Artificial Life And Robotics

URL

http://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS7/OS7-5.pdf

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257465&p_lang=2

Resource files

File name	Size (MB)	Format
F_2018_Path_planning_for_Indoor_Partially_Unknown_Environment_Exploration_and_Mapping.__2_.pdf	0,35	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Zakiev Aufar Azatovich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	Zakiev A., Lavrenov R., Magid E., & Indelman V. Path planning for Indoor Partially Unknown Environment Exploration and Mapping // International Conference on Artificial Life and Robotics (ICAROB 2018) (Beppu, Japan; 1-4 February 2018) - p. 399-402.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257465&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the International Conference On Artificial Life And Robotics	ru_RU
dc.description.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.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	robotics	ru_RU
dc.subject	algorithm	ru_RU
dc.subject	modelling	ru_RU
dc.subject	mapping	ru_RU
dc.subject	ROS/Gazebo	ru_RU
dc.subject	indoor exploration	ru_RU
dc.subject	path planning	ru_RU
dc.title	Path planning for Indoor Partially Unknown Environment Exploration and Mapping	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU