An Integrated Approach to Autonomous Environment Modeling

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

An Integrated Approach to Autonomous Environment Modeling

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

An Integrated Approach to Autonomous Environment Modeling

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems (MESAS 2017)

ISBN

978-3-319-76071-1

ISSN

0302-9743

e-ISSN

—

Počet stran výsledku

15

Strana od-do

3-17

Název nakladatele

Springer International Publishing AG

Místo vydání

Cham

Místo konání akce

Řím

Datum konání akce

24. 10. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000444831600001