A Mobile Robot Exploration Strategy with Low Cost Sonar and Tungsten-Halogen Structured Light |
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Authors: | Nosan Kwak Gon-Woo Kim Sang-Hoon Ji Beom-Hee Lee |
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Affiliation: | (1) School of Electrical Engineering, Seoul National University, Seoul, 151-742, South Korea;(2) Division of Applied Robot Tech., Korea Institute of Industrial Technology, Cheonan, Chungnam, 330-825, South Korea |
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Abstract: | Autonomous environment mapping is an essential part of efficiently carrying out complex missions in unknown indoor environments.
In this paper, a low cost mapping system composed of a web camera with structured light and sonar sensors is presented. We
propose a novel exploration strategy based on the frontier concept using the low cost mapping system. Based on the complementary
characteristics of a web camera with structured light and sonar sensors, two different sensors are fused to make a mobile
robot explore an unknown environment with efficient mapping. Sonar sensors are used to roughly find obstacles, and the structured
light vision system is used to increase the occupancy probability of obstacles or walls detected by sonar sensors. To overcome
the inaccuracy of the frontier-based exploration, we propose an exploration strategy that would both define obstacles and
reveal new regions using the mapping system. Since the processing cost of the vision module is high, we resolve the vision
sensing placement problem to minimize the number of vision sensing in analyzing the geometry of the proposed sonar and vision
probability models. Through simulations and indoor experiments, the efficiency of the proposed exploration strategy is proved
and compared to other exploration strategies.
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Keywords: | Frontier-based exploration Sensing point placement Autonomous map building Halogen structured light |
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