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Alternative TitleRGB-D Based Autonomous Exploration and Mapping of a Mobile Robotin Unknown Indoor Environment
于宁波; 王石荣; 徐昌
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20180404672988
Contribution Rank1
Funding Organization国家自然科学基金(61403215) ; 天津市自然科学基金(13JCYBJC36600) ; 机器人学国家重点实验室开放课题(2016-003)
Keyword移动机器人 自主探索 点云地图 局部地图推演 全局边界搜索
Other AbstractAn autonomous exploration and mapping method based on RGB-D (RGB-depth) information for mobile robots is proposed. Firstly, the 3D point cloud map is constructed in real time based on the information from the RGB-D sensor through location point generation, map building and loop closure detection. Then, the autonomous exploration is modeled as a partially observable Markov decision process (POMDP). An autonomous exploration strategy is established based on partial map simulation and global frontier search. Further, real-time action constraints are specified and imposed to a dynamic window motion controller, which drives the motion of the mobile robot and avoids local optimums, and ensures stable map construction with RGB-D data. Finally, the proposed exploration method is realized on a mobile robot system in laboratory experiments. The experimental results demonstrate the effectiveness of the proposed autonomous exploration and mapping method in unknown environments.
Citation statistics
Cited Times:5[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author于宁波
Recommended Citation
GB/T 7714
于宁波,王石荣,徐昌. 一种基于RGB-D的移动机器人未知室内环境自主探索与地图构建方法[J]. 机器人,2017,39(6):860-871.
APA 于宁波,王石荣,&徐昌.(2017).一种基于RGB-D的移动机器人未知室内环境自主探索与地图构建方法.机器人,39(6),860-871.
MLA 于宁波,et al."一种基于RGB-D的移动机器人未知室内环境自主探索与地图构建方法".机器人 39.6(2017):860-871.
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