| Форма представления | Статьи в зарубежных журналах и сборниках |
| Год публикации | 2019 |
| Язык | английский |
|
Закиев Ауфар Азатович, автор
Лавренов Роман Олегович, автор
Магид Евгений Аркадьевич, автор
|
|
Мацуно Фумитоши , автор
Свинин Михаил , автор
|
| Библиографическое описание на языке оригинала |
Zakiev A. Partially unknown environment exploration algorithm for a mobile robot / Lavrenov R., Magid E., Svinin M., Matsuno F. // Journal of Advanced Research in Dynamical and Control Systems. - 2019. - Vol. 11(08). - p. 1743-1753. |
| Аннотация |
This paper introduces a new indoor environment exploration method, which is designed to consider robot sensory perception constraints and indoor spaces predictable structure. Our new method is compared with a greedy approach exploration. The two algorithms were implemented and tested in simulation and in real-world experiments with a Russian Servosila Engineer crawler rescue robot. Robot Operating System (ROS) framework was used both for simulations in Gazebo environment and for the real robot control. Our method demonstrated better results for large space exploration in simulations as well as within small indoor environment exploration experiments. |
| Ключевые слова |
Mobile robot, mapping, SLAM, navigation, exploration algorithm, Servosila Engineer. |
| Название журнала |
Journal of Advanced Research in Dynamical and Control Systems
|
| URL |
https://www.jardcs.org/abstract.php?id=2511 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=212982 |
| Файлы ресурса | |
|
|
Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Закиев Ауфар Азатович |
ru_RU |
| dc.contributor.author |
Лавренов Роман Олегович |
ru_RU |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.contributor.author |
Мацуно Фумитоши |
ru_RU |
| dc.contributor.author |
Свинин Михаил |
ru_RU |
| dc.date.accessioned |
2019-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2019-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2019 |
ru_RU |
| dc.identifier.citation |
Zakiev A. Partially unknown environment exploration algorithm for a mobile robot / Lavrenov R., Magid E., Svinin M., Matsuno F. // Journal of Advanced Research in Dynamical and Control Systems. - 2019. - Vol. 11(08). - p. 1743-1753. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=212982 |
ru_RU |
| dc.description.abstract |
Journal of Advanced Research in Dynamical and Control Systems |
ru_RU |
| dc.description.abstract |
This paper introduces a new indoor environment exploration method, which is designed to consider robot sensory perception constraints and indoor spaces predictable structure. Our new method is compared with a greedy approach exploration. The two algorithms were implemented and tested in simulation and in real-world experiments with a Russian Servosila Engineer crawler rescue robot. Robot Operating System (ROS) framework was used both for simulations in Gazebo environment and for the real robot control. Our method demonstrated better results for large space exploration in simulations as well as within small indoor environment exploration experiments. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
Mobile robot |
ru_RU |
| dc.subject |
mapping |
ru_RU |
| dc.subject |
SLAM |
ru_RU |
| dc.subject |
navigation |
ru_RU |
| dc.subject |
exploration algorithm |
ru_RU |
| dc.subject |
Servosila Engineer. |
ru_RU |
| dc.title |
Partially unknown environment exploration algorithm for a mobile robot |
ru_RU |
| dc.type |
Статьи в зарубежных журналах и сборниках |
ru_RU |
|
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