Frontier-Based Probabilistic Strategies for Sensor-Based Exploration

We present a frontier-based modification of the SRT (Sensor-based Random Tree) method, a previously proposed probabilistic strategy for sensor-based exploration of unknown environments by a mobile robot. The idea is to improve the efficiency of the method by biasing the randomized generation of conf...

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Bibliographic Details
Main Authors: Freda, L., Oriolo, G.
Format: Conference Proceeding
Language:English
Subjects:
Mobile robots
Motion planning
Navigation
Orbital robotics
probabilistic strategies
Robot motion
Robot sensing systems
Sensor-based exploration
Shape
Strategic planning
Tree data structures
Utility theory
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Description
Summary:We present a frontier-based modification of the SRT (Sensor-based Random Tree) method, a previously proposed probabilistic strategy for sensor-based exploration of unknown environments by a mobile robot. The idea is to improve the efficiency of the method by biasing the randomized generation of configurations towards unexplored areas. Effective implementations of this strategy are proposed for SRT-Ball and SRT-Star, two instances of the general SRT method corresponding to different perception attitudes and sensing equipments. Comparative simulations are presented to show the benefits of the proposed technique.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2005.1570713