Form of presentation | Articles in international journals and collections |
Year of publication | 2019 |
Язык | английский |
|
Zakiev Aufar Azatovich, author
Lavrenov Roman Olegovich, author
Magid Evgeniy Arkadevich, author
|
|
Macuno Fumitoshi , author
Svinin Mikhail , author
|
Bibliographic description in the original language |
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. |
Annotation |
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. |
Keywords |
Mobile robot, mapping, SLAM, navigation, exploration algorithm, Servosila Engineer. |
The name of the journal |
Journal of Advanced Research in Dynamical and Control Systems
|
URL |
https://www.jardcs.org/abstract.php?id=2511 |
Please use this ID to quote from or refer to the card |
https://repository.kpfu.ru/eng/?p_id=212982&p_lang=2 |
Resource files | |
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Full metadata record ![](https://shelly.kpfu.ru/pdf/picture/arrow_black_right.gif) |
Field DC |
Value |
Language |
dc.contributor.author |
Zakiev Aufar Azatovich |
ru_RU |
dc.contributor.author |
Lavrenov Roman Olegovich |
ru_RU |
dc.contributor.author |
Magid Evgeniy Arkadevich |
ru_RU |
dc.contributor.author |
Macuno Fumitoshi |
ru_RU |
dc.contributor.author |
Svinin Mikhail |
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/eng/?p_id=212982&p_lang=2 |
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 |
Articles in international journals and collections |
ru_RU |
|