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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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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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creator	Freda, L. Oriolo, G.
description	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.
doi_str_mv	10.1109/ROBOT.2005.1570713
format	conference_proceeding
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source	IEEE Xplore All Conference Series
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
title	Frontier-Based Probabilistic Strategies for Sensor-Based Exploration
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