Autonomous Exploration and Mapping with RFS Occupancy-Grid SLAM.
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ABSTRACT:
SUBMITTER: Ristic B
PROVIDER: S-EPMC7512974 | biostudies-literature | 2018 Jun
REPOSITORIES: biostudies-literature
Publications
Autonomous Exploration and Mapping with RFS Occupancy-Grid SLAM.
Ristic Branko B Palmer Jennifer L JL
Entropy (Basel, Switzerland) 20180612 6
This short note addresses the problem of autonomous on-line path-panning for exploration and occupancy-grid mapping using a mobile robot. The underlying algorithm for simultaneous localisation and mapping (SLAM) is based on random-finite set (RFS) modelling of ranging sensor measurements, implemented as a Rao-Blackwellised particle filter. Path-planning in general must trade-off between exploration (which reduces the uncertainty in the map) and exploitation (which reduces the uncertainty in the ...[more]
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