A. Ekman et al., EXPLORATION OF POLYGONAL ENVIRONMENTS USING RANGE DATA, IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, 27(2), 1997, pp. 250-255
Citations number
29
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Science Cybernetics","Robotics & Automatic Control
Several robotic problems involve the systematic traversal of the envir
onment, commonly referred to as exploration, We present a strategy for
the exploration of unknown finite polygonal environments, using a poi
nt robot with 1) no positional uncertainty and 2) an ideal range senso
r that measures range in N uniformly distributed directions. The range
data vector, obtained from the range sensor, corresponds to a sampled
version of a visibility polygon. Visibility polygon edges that do not
correspond to environmental edges are called jump edges and the explo
ration strategy is based on the fact that jump edges indicate directio
ns of possibly unexplored environmental regions. We describe condition
s under which it is possible to identify jump edges in the range data.
We also show how the exploration strategy can be used in a solution t
o the terrain acquisition problem and describe conditions under which
a solution is guaranteed within a finite number of measurements.