Thinning-based topological exploration using position probability of topological nodes

Tae Bum Kwon, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Exploration is the fundamental task of guiding a robot autonomously during mapping so that it covers the entire environment with its sensors. In the frontier-based exploration, a robot visits the unknown regions, but the sufficient information on the obstacles was not exploited. In the topological exploration, the robot was forced to visit all the topological nodes, but it was inefficient and time-consuming. In this paper, an efficient exploration called a thinning-based topological exploration (TTE) is proposed. This scheme is based on the position probability of the end nodes of a topological map built in real time. The robot then updates the position probability of each end node sustaining its position at the current location using the range data. By analyzing this position probability, the robot can determine whether or not it needs to visit the specific end node to examine the environment around this node. Various experiments show that the proposed TTE algorithm can perform exploration more accurately than the frontier-based exploration approach and more efficiently than the other topological exploration schemes, because in most cases, exploration for the entire environment can be completed without directly visiting everywhere.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages797-802
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

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Keywords

  • Exploration
  • Position probability
  • Thinning-based topological exploration (TTE)

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Kwon, T. B., & Song, J. B. (2006). Thinning-based topological exploration using position probability of topological nodes. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 797-802). [1641807] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641807