An Integrated Approach to Autonomous Environment Modeling

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F18%3A00321695" target="_blank" >RIV/68407700:21730/18:00321695 - isvavai.cz</a>

Result on the web

<a href="https://link.springer.com/chapter/10.1007/978-3-319-76072-8_1" target="_blank" >https://link.springer.com/chapter/10.1007/978-3-319-76072-8_1</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-319-76072-8_1" target="_blank" >10.1007/978-3-319-76072-8_1</a>

Result language

angličtina

Original language name

An Integrated Approach to Autonomous Environment Modeling

Original language description

In this paper, we present an integrated solution to memory-efficient environment modeling by an autonomous mobile robot equipped with a laser range-finder. Majority of nowadays approaches to autonomous environment modelling, called exploration, employs occupancy grids as environment representation where the working space is divided into small cells each storing information about the corresponding piece of the environment in the form of a probabilistic estimate of its state. In contrast, the presented approach uses a polygonal representation of the explored environment which consumes much less memory, enables fast planning and decision-making algorithms and it is thus reliable for large-scale environments. Simultaneous localization and mapping (SLAM) has been integrated into the presented framework to correct odometry errors and to provide accurate position estimates. This involves also refinement of the already generated environment model in case of loop closure, i.e. when the robot detects that it revisited an already explored place. The framework has been implemented in Robot Operating System (ROS) and tested with a real robot in various environments. The experiments show that the polygonal epresentation with SLAM integrated can be used in the real world as it is fast, memory efficient and accurate. Moreover, the refinement can be executed in real-time during the exploration process.

Czech name

—

Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2018

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Modelling and Simulation for Autonomous Systems (MESAS 2017)

ISBN

978-3-319-76071-1

ISSN

0302-9743

e-ISSN

—

Number of pages

15

Pages from-to

3-17

Publisher name

Springer International Publishing AG

Place of publication

Cham

Event location

Řím

Event date

Oct 24, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000444831600001