KFU. Card publication. Partially unknown environment exploration algorithm for a mobile robot

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

PARTIALLY UNKNOWN ENVIRONMENT EXPLORATION ALGORITHM FOR A MOBILE ROBOT

Form of presentation

Articles in international journals and collections

Year of publication

2019

Язык

английский

Authors, employees of KFU

Zakiev Aufar Azatovich, author

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Other authors

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

File name	Size (MB)	Format
F_JARDCS_printed_final.pdf	0,59	pdf	show / download

Full metadata record

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