Abstract
We present a novel solution for topological exploration in corridor environments using cheap and error-prone sonar sensors. Topological exploration requires significant location detection and motion planning. To detect nodes (i.e., significant places) robustly, we propose a new measure, the eigenvalue ratio (EVR), which converts geometrical shapes in the environment into quantitative values using principal component analysis. For planning the safe motion of a robot, we propose the circle following (CF) method, which abstracts the geometry of the environment while taking the characteristics of the sonar sensors into consideration. Integrating the EVR with the CF method results in a topological exploration strategy using sonar sensors approach. The practicality of this approach is demonstrated by simulations and real experiments in corridor environments.
| Original language | English |
|---|---|
| Pages (from-to) | 89-98 |
| Number of pages | 10 |
| Journal | Intelligent Service Robotics |
| Volume | 3 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2010 Apr 1 |
Fingerprint
Keywords
- Exploration
- Sonar sensors
- Topology
ASJC Scopus subject areas
- Mechanical Engineering
- Engineering (miscellaneous)
- Artificial Intelligence
- Computational Mechanics
Cite this
An exploration strategy using sonar sensors in corridor environments. / Lee, Kyoungmin; Doh, Nakju; Chung, Wan Kyun.
In: Intelligent Service Robotics, Vol. 3, No. 2, 01.04.2010, p. 89-98.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - An exploration strategy using sonar sensors in corridor environments
AU - Lee, Kyoungmin
AU - Doh, Nakju
AU - Chung, Wan Kyun
PY - 2010/4/1
Y1 - 2010/4/1
N2 - We present a novel solution for topological exploration in corridor environments using cheap and error-prone sonar sensors. Topological exploration requires significant location detection and motion planning. To detect nodes (i.e., significant places) robustly, we propose a new measure, the eigenvalue ratio (EVR), which converts geometrical shapes in the environment into quantitative values using principal component analysis. For planning the safe motion of a robot, we propose the circle following (CF) method, which abstracts the geometry of the environment while taking the characteristics of the sonar sensors into consideration. Integrating the EVR with the CF method results in a topological exploration strategy using sonar sensors approach. The practicality of this approach is demonstrated by simulations and real experiments in corridor environments.
AB - We present a novel solution for topological exploration in corridor environments using cheap and error-prone sonar sensors. Topological exploration requires significant location detection and motion planning. To detect nodes (i.e., significant places) robustly, we propose a new measure, the eigenvalue ratio (EVR), which converts geometrical shapes in the environment into quantitative values using principal component analysis. For planning the safe motion of a robot, we propose the circle following (CF) method, which abstracts the geometry of the environment while taking the characteristics of the sonar sensors into consideration. Integrating the EVR with the CF method results in a topological exploration strategy using sonar sensors approach. The practicality of this approach is demonstrated by simulations and real experiments in corridor environments.
KW - Exploration
KW - Sonar sensors
KW - Topology
UR - http://www.scopus.com/inward/record.url?scp=77954086782&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77954086782&partnerID=8YFLogxK
U2 - 10.1007/s11370-010-0061-8
DO - 10.1007/s11370-010-0061-8
M3 - Article
AN - SCOPUS:77954086782
VL - 3
SP - 89
EP - 98
JO - Intelligent Service Robotics
JF - Intelligent Service Robotics
SN - 1861-2776
IS - 2
ER -