Title :
Frontier-Based Probabilistic Strategies for Sensor-Based Exploration
Author :
Freda, Luigi ; Oriolo, Giuseppe
Author_Institution :
Dipartimento di Informatica e Sistemistica Università di Roma “La Sapienza” Via Eudossiana 18, 00184 Roma, Italy; freda@dis.uniroma1.it
Abstract :
We present a frontier-based modification of the SRT (Sensor-based Random Tree) method, a previously proposed probabilistic strategy for sensor-based exploration of unknown environments by a mobile robot. The idea is to improve the efficiency of the method by biasing the randomized generation of configurations towards unexplored areas. Effective implementations of this strategy are proposed for SRT-Ball and SRT-Star, two instances of the general SRT method corresponding to different perception attitudes and sensing equipments. Comparative simulations are presented to show the benefits of the proposed technique.
Keywords :
Sensor-based exploration; probabilistic strategies; Mobile robots; Motion planning; Navigation; Orbital robotics; Robot motion; Robot sensing systems; Shape; Strategic planning; Tree data structures; Utility theory; Sensor-based exploration; probabilistic strategies;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570713