Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots

Gonzalez-Arjona, David; Sanchez, Alberto; López-Colino, Fernando; Castro, Ángel de; Garrido, Javier

doi:10.3390/ijgi2040959

Cited by 25 publications

(13 citation statements)

References 33 publications

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“…Robotic exploration process can be defined as a process through which the physical structure of the initially unknown environment is discovered by making incremental, information-based decisions. In the context of this research, authors consider a standard map building method when newly obtained geometrical data is added to the specified-scale grid, whose cells can have one of the three states: occupied, free or unreachable [26]. It is also assumed that the robot can localise itself within the reconstructed map.…”

Section: Autonomous Robot Platformmentioning

confidence: 99%

Application of Sustainability Principles for Harsh Environment Exploration by Autonomous Robot

2019

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Currently, the European Union (EU) is focusing on a large-scale campaign dedicated to developing a competitive circular economy and expanding the single digital market. One of the main goals of this campaign is the implementation of the sustainability principles in the development and deployment cycle of the new generation technologies. This paper focuses on the fast-growing field of autonomous mobile robots and the harsh environment exploration problem. Currently, most state-of-the-art navigation methods are utilising the idea of evaluating candidate observation locations by combining different task-related criteria. However, these map building solutions are often designed for operating in near-perfect environments, neglecting such factors as the danger to the robot. In this paper, a new strategy that aims to address the safety and re-usability of the autonomous mobile agent by implementing the economic sustainability principles is proposed. A novel multi-criteria decision-making method of Weighted Aggregated Sum Product Assessment—Single-Valued Neutrosophic Sets, namely WASPAS-SVNS, and the weight selection method of Step-Wise Weights Assessment Ratio Analysis (SWARA) are applied to model a dynamic decision-making system. The experimental evaluation of the proposed strategy shows that increased survivability of the autonomous agent can be observed. Compared to the greedy baseline strategy, the proposed method forms the movement path which orients the autonomous agent away from dangerous obstacles.

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Section: Autonomous Robot Platformmentioning

confidence: 99%

Application of Sustainability Principles for Harsh Environment Exploration by Autonomous Robot

2019

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“…The result is a 2x2 matrix containing the values in millimetres in the following order (Table I): Since the device knows its direction (up-down or down-up) from the number of the columns it scanned already [15]... [30]. If the current column number is odd, the direction is up-down.…”

Section: Measuring Distance and Composing Matricesmentioning

confidence: 99%

Autonomous Devices to Map Rooms and Other Indoor Spaces and Storing Maps in the Cloud

Lábadi¹,

Sabo²,

Kuljic³

et al. 2016

Proccedings of the ICAIIT2016

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Abstract. The publication presents a three wheeled robot that has been designed to map rooms, halls and other indoor areas. The device uses an ultrasonic sensor for measuring distance, which is later used for both navigation and obstacle detection. Data were used later to compose a matrix -the schematic map of the room. This map could be uploaded to the cloud for later use by other 3rd party devices so they do not have to redo the mapping process again.

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“…However, their drawback arises from the time taken to reveal that a cell is not occupied. Memory space is also a fundamental aspect in the occupancy grid, this space is proportional to the grid cell dimension [ 16 ].…”

Section: Introductionmentioning

confidence: 99%

A Novel Real-Time Reference Key Frame Scan Matching Method

Mohamed

Moussa

Elhabiby

et al. 2017

Sensors

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Unmanned aerial vehicles represent an effective technology for indoor search and rescue operations. Typically, most indoor missions’ environments would be unknown, unstructured, and/or dynamic. Navigation of UAVs in such environments is addressed by simultaneous localization and mapping approach using either local or global approaches. Both approaches suffer from accumulated errors and high processing time due to the iterative nature of the scan matching method. Moreover, point-to-point scan matching is prone to outlier association processes. This paper proposes a low-cost novel method for 2D real-time scan matching based on a reference key frame (RKF). RKF is a hybrid scan matching technique comprised of feature-to-feature and point-to-point approaches. This algorithm aims at mitigating errors accumulation using the key frame technique, which is inspired from video streaming broadcast process. The algorithm depends on the iterative closest point algorithm during the lack of linear features which is typically exhibited in unstructured environments. The algorithm switches back to the RKF once linear features are detected. To validate and evaluate the algorithm, the mapping performance and time consumption are compared with various algorithms in static and dynamic environments. The performance of the algorithm exhibits promising navigational, mapping results and very short computational time, that indicates the potential use of the new algorithm with real-time systems.

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Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots

Cited by 25 publications

References 33 publications

Application of Sustainability Principles for Harsh Environment Exploration by Autonomous Robot

Application of Sustainability Principles for Harsh Environment Exploration by Autonomous Robot

Autonomous Devices to Map Rooms and Other Indoor Spaces and Storing Maps in the Cloud

A Novel Real-Time Reference Key Frame Scan Matching Method

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