Autonomous Mobile Robot Exploration in Negative Obstacle Environment

被引：0

作者：

Keskin, Numan ^{[1
]}

Uslu, Erkan ^{[1
]}

Cakmak, Furkan ^{[1
]}

Altuntas, Nihal ^{[1
]}

Amasyali, M. 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：

2D localization; 3D mapping; 2D navigation; 2D exploration; OctoMap; autonomous mobile robot; negative obstacles;

D O I：

暂无

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

Restricted 3D simultaneous localization and mapping (SLAM) can be achived in an environment that has negative and positive obstacles, using a 2D SLAM and a 3D mapping together. Exploration can utilize 2D navigation, which uses a 2D map constructed with respect to 3D map obstacles both negative and positive, and free areas. Robocup, Rescue League, Exploration 4 competition is designed to measure real platform autonomous mobile robot exploration capabilities in an negative obstacle scene. In this paper aforementioned exploration approach is implemented in a simulation environment created in Gazebo similar to Exploration 4 arena, using Robot Operating System (ROS).

引用

页数：4

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