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.
引用
收藏
页数：4
相关论文
共 50 条
  • [41] Drogue tracking using 3D flash lidar for autonomous aerial refueling
    Chen, Chao-I
    Stettner, Roger
    LASER RADAR TECHNOLOGY AND APPLICATIONS XVI, 2011, 8037
  • [42] An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments
    Surmann, H
    Nüchter, A
    Hertzberg, J
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2003, 45 (3-4) : 181 - 198
  • [43] 3D sensors imp ementation for mobile robots and autonomous vehicles navigation
    Valverde-Moreno, Sergio
    TECNOLOGIA EN MARCHA, 2020, 33 : 176 - 186
  • [44] A fast 3D seed-filling algorithm
    Shyan-Bin Jou
    Ming-Dar Tsai
    The Visual Computer, 2003, 19 : 243 - 251
  • [45] Fast cutting algorithm for 3D surface model
    Chen, Mao
    Tang, Zesheng
    Tang, Long
    Ruan Jian Xue Bao/Journal of Software, 1998, 9 (09): : 661 - 664
  • [46] Fast Segment Iterative Algorithm for 3D Reconstruction
    Mesko, Matej
    Krsak, Emil
    2014 10TH INTERNATIONAL CONFERENCE ON DIGITAL TECHNOLOGIES (DT), 2014, : 238 - 242
  • [47] A fast 3D seed-filling algorithm
    Jou, SB
    Tsai, MD
    VISUAL COMPUTER, 2003, 19 (04): : 243 - 251
  • [48] A fast 3D-BSG algorithm for 3D packing problem
    Zhang, Lingyi
    Dong, Sheqin
    Hong, Xianlong
    Ma, Yuchun
    2007 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1-11, 2007, : 2044 - 2047
  • [49] History-Aware Free Space Detection for Efficient Autonomous Exploration using Aerial Robots
    Fite, Ryan
    Khattak, Shehryar
    Feil-Seifer, David
    Alexis, Kostas
    2019 IEEE AEROSPACE CONFERENCE, 2019,
  • [50] Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots
    Dharmadhikari, Mihir
    De Petris, Paolo
    Kulkarni, Mihir
    Khedekar, Nikhil
    Nguyen, Huan
    Stene, Arnt Erik
    Sjovold, Eivind
    Solheim, Kristian
    Gussiaas, Bente
    Alexis, Kostas
    2023 21ST INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, ICAR, 2023, : 409 - 416
12345