Gap Navigation Trees for Discovering Unknown Environments
نویسندگان
چکیده
منابع مشابه
Gap Navigation Trees for Discovering Unknown Environments
We propose a motion planning gap-based algorithms for mobile robots in an unknown environment for exploration purposes. The results are locally optimal and sufficient to navigate and explore the environment. In contrast with the traditional roadmap-based algorithms, our proposed algorithm is designed to use minimal sensory data instead of costly ones. Therefore, we adopt a dynamic data structur...
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However, we still do not have SLAM-enabled robots capable of substantive deployments. The problem lies in perception. All the SLAM algorithms require an oracle of some description to associate each measurement with part of the inferred state of the world. If this ‘data association’ process goes wrong, terrible things happen. Vehicles get lost, maps get corrupted, and features are mapped as new ...
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Autonomous navigation in unknown but wellstructured environments (e.g., parking lots) is a common task for human drivers and an important goal for autonomous vehicles. In such environments, the vehicles must obey the standard conventions of driving (e.g., passing oncoming vehicles on the correct side), but often lack a map that can be used to guide path planning in an appropriate way. The robot...
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ژورنال
عنوان ژورنال: Intelligent Control and Automation
سال: 2015
ISSN: 2153-0653,2153-0661
DOI: 10.4236/ica.2015.64022