Name
Abstract | ||
|---|---|---|
Automatic model building is a fundamental task in mobile robotics. We present a method for sensor-based exploration of unknown environments by non-holonomic mobile robots. This method proceeds by building a data structure called SRT (sensor-based random tree). The SRT represents a roadmap of the explored area with an associated safe region, and estimates the free space as perceived by the robot during the exploration. The original work presents two techniques: SRT-ball and SRT-star. In this paper, we propose an alternative strategy called SRT-radial that deals with non- holonomic constraints using two alternative planners named SRT-extensive and SRT-goal. We present experimental results to show the performance of the SRT-radial and both planners. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/IROS.2007.4399021 | San Diego, CA |
Keywords | Field | DocType |
mobile robots,path planning,sensors,automatic model building,nonholonomic mobile robots,sensor-based exploration,sensor-based random tree,unknown environments | Motion planning,Random tree,Computer vision,Data structure,Robot control,Computer science,Model building,Control engineering,Artificial intelligence,Robot,Robotics,Mobile robot | Conference |
ISBN | Citations | PageRank |
978-1-4244-0912-9 | 3 | 0.45 |
References | Authors | |
4 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Judith Espinoza | 1 | 11 | 1.74 |
| Abraham Sánchez López | 2 | 12 | 10.54 |
| María Auxilio Osorio Lama | 3 | 9 | 1.89 |
| Sanchez, A.L. | 4 | 3 | 0.45 |
| Osorio, M. | 5 | 3 | 0.79 |