Title :
A multi-objective strategy based on frontier-based approach and Fisher Information Matrix for autonomous exploration
Author :
Zheng Fang ; Lei Zhang
Author_Institution :
State Key Lab. of Synthetical Autom. for Process Ind., Shenyang, China
Abstract :
This paper presents a multi-objective exploration strategy for autonomous exploration of unknown indoor environments. The strategy mainly consists of two parts. First, it evaluates and determines the best frontier by considering the sensor information, localizability and navigation distance simultaneously. Second, a motion planning method considering the robot uncertainty is used to generate trajectories towards selected frontier. Compared to other exploration algorithms, we pay much attention to how to ensure accurate localization during the exploration and motion planning, which means the strategy should select frontiers and generate trajectories that provide sufficient information to keep the robot well-localized. Simulation experiments are presented to show the feasibility of the proposed strategy.
Keywords :
SLAM (robots); matrix algebra; mobile robots; optical sensors; path planning; Fisher information matrix; autonomous exploration; distance navigation; frontier-based approach; localizability; motion planning method; multiobjective exploration strategy; navigation distance; robot uncertainty; sensor information; trajectory generation; unknown indoor environments; Automation; Navigation; Planning; Robot sensing systems; Trajectory; Uncertainty;
Conference_Titel :
Cyber Technology in Automation, Control and Intelligent Systems (CYBER), 2013 IEEE 3rd Annual International Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4799-0610-9
DOI :
10.1109/CYBER.2013.6705427