DocumentCode :
2349780
Title :
BVP-exploration: further improvements
Author :
Silva, Edson P e, Jr. ; Trevisan, Marcelo ; Idiart, Marco A P ; Engel, Paulo M.
Author_Institution :
Centro Univ. La Salle, Canoas, Brazil
Volume :
4
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
3239
Abstract :
We propose some techniques to improve the exploration method based on BVP and demonstrate that, at least, for exploration in two dimensional space, we can reduce enormously the computation cost of the harmonic function method for exploration without losing the important properties of the method. Switching between local and global potential calculation and using an adaptive activation window result in a computationally efficient and refined mapping process.
Keywords :
boundary-value problems; harmonic analysis; mobile robots; path planning; BVP; adaptive activation window; boundary value problems; computation cost; exploration method; global potential calculation; harmonic function method; learning map; local potential calculation; mapping process; mobile robots; switching; two-dimensional space; Boundary conditions; Computational efficiency; Data mining; Navigation; Path planning; Robots; Sensor phenomena and characterization; Sonar; Space exploration; Switches;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1249655
Filename :
1249655
Link To Document :
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