A Fast 3D Exploration Algorithm for Autonomous Aerial Robots

被引：0
|
作者：
Marangoz, Salih [1 ]
Ergun, Ezgi Ekin [1 ]
Uslu, Erkan [1 ]
Cakmak, Furkan [1 ]
Altuntas, Nihal [1 ]
Amasyali, Mehmet Fatih [1 ]
Yavuz, Sirma [1 ]
机构：
[1] Yildiz Tekn Univ, Bilgisayar Muhendisligi Bolumu, Istanbul, Turkey
来源：
2017 25TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU) | 2017年
关键词：
Aerial Robot; Autonomous; Three Dimensional AStar; Three Dimensional CCL; Three Dimensional Costmap; 3D Exploration; Gazebo; ROS;
D O I：
暂无
中图分类号：
O42 [声学];
学科分类号：
070206 ; 082403 ;
摘要：
In the scope of the study, it was aimed to discover a closed multi-storey environment with autonomous air robots and produce a three dimensional map. In order to reduce the complexity of the three-dimensional exploration algorithm, we have developed Target Elimination Method that can calculate the result by narrowing the problem space. The Target Elimination Method ensures that the exploration algorithm is faster to explore the environment as it reduces the calculation time.
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页数：4
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