NDLI: Active sensing based mobile robot exploration

Content Provider	IEEE Xplore Digital Library
Author	Jungyun Bae Sooyong Lee
Copyright Year	2005
Description	Author affiliation: Dept. of Mech. & Syst. Design Eng., Hongik Univ., Seoul (Jungyun Bae; Sooyong Lee) Mobile robots are increasingly being used to perform tasks in unknown environments. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. An algorithm has been developed for robots which explore the environment to measure the physical properties (temperature in this paper). While the robot is moving, it measures the temperature and registers the value in the corresponding grid cell. The robot moves from local maximum to local minimum, then to another local maximum, and repeats. To reach the local maximum or minimum, simple gradient following is used. Robust estimation of the gradient using perturbation/correlation is described. By introducing the probability of each grid cell, and considering the probability distribution, the robot doesn't have to visit all the grid cells in the environment still providing fast and efficient sensing. Once the robot visited most of the local maximum/minimum, then the gradients at the remaining cells are close to zero. Then, the robot simply follows the Voronoi edges to complete the exploration. The extended algorithm to coordinate multiple robots is shown with simulation results
Starting Page	934
Ending Page	939
File Size	1704534
Page Count	6
File Format	PDF
ISBN	0780390474
DOI	10.1109/AIM.2005.1511129
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot kinematics Robot sensing systems Temperature measurement Intelligent robots Robustness Manufacturing Humans Temperature distribution Probability distribution
Content Type	Text
Resource Type	Article

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