Ear-based exploration on hybrid metric/topological maps

Abstract

Abstract-In this paper we propose a hierarchy of techniques for performing loop closure in indoor environments together with an exploration strategy designed to reduce uncertainty in the resulting map. We use the Generalized Voronoi Graph to represent the indoor environment and an extended Kalman filter to track the pose of the robot and the position of the junctions (vertices) of the topological graph. Every time some vertex is revisited, the robot re-localizes and updates the filter accordingly. Finally, since the reduction of the map uncertainty remains one of the main concerns, the robot will optimize its schedule of revisiting junctions in the environment in order to reduce the accumulated uncertainty. Experimental results from a mobile robot equipped with a laser range-finder and results from realistic simulations that validate our approach are presented.

Uncertainty-based localization in a topological robot navigation system

“…The next works are going to be classified according to the structures created for mapping. Firstly, we present works that built both a global metric map and a global topological map [16,67,83,179,180,186]. In some works, such as the work by Zhang [179], a global metric map is built and afterwards a topological map is extracted from the metric structure.…”

“…Firstly, we present works that built both a global metric map and a global topological map [16,67,83,179,180,186]. In some works, such as the work by Zhang [179], a global metric map is built and afterwards a topological map is extracted from the metric structure. In that case, Voronoi diagram was used to obtain the topology of the environment.…”

Study, design, and evaluation of exploration strategies for autonomous mobile robots

“…JUNE 2015 based environments. Moreover, it would be interesting to analyze the trade-off between exploring new portion of the environments and traversing already visited areas in order to reduce the uncertainty of the map (Zhang, Whitney, Shkurti, and Rekleitis, 2014).…”

Parâmetros de sensores em robótica móvel para exploração autônoma de ambientes internos

“…Logo, uma técnica largamente utilizada é a Exploração Baseada na Fronteira (FBE do inglês) (SCHULTZ et al, 1999) (GAO et al, 2018 que consiste em explorar as áreas que não possuem limites conhecidos, outra técnica relevante é a Next Best View Exploration (NBVE), a qual baseia-se em estimar e selecionar qual seria o ponto no mapa que teria mais chances de obter maior área de exploração (GONZÁLEZ-BAÑOS;LATOMBE, 2002). Também é comum encontrar técnicas que utilizam o mapeamento topológico, através da criação de nós em estruturas de grafos com pesos para tomada de decisão em conjunto com MGO, para definir tanto a localização do robô quanto as coordenadas dos nós e dos próximos passos, como por exemplo a técnica denominada Ear Based Exploration (EBE) (ZHANG et al, 2014). Figura 1 -Diagrama com a composição das tarefas necessárias para realização da exploração Fonte: Autor.…”

“…Ao encontrar este ponto de encontro, o robô mapeia e adiciona esse nó ao grafo. Usando o racional de escolher o ponto de exploração ou o ponto para relocalização, através da EBE, o robô pode selecionar a próxima aresta que irá seguir (ZHANG et al, 2014). A exploração termina quando não existem mais nós sem terem sido visitados.…”