Heuristics-Based Explorer for 2D Navigation

Juan Luis Hortelano; Norbert Krüger; Jorge Rodríguez

doi:10.1109/IRC.2019.00010

Heuristics-Based Explorer for 2D Navigation

Juan Luis Hortelano, Norbert Krüger^*, Jorge Rodríguez

^*Corresponding author for this work

The Maersk Mc-Kinney Moller Institute

Blue Ocean Robotics

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

Explorer algorithms are important in the process of creating maps in unknown environments, which is an essential functionality in scenarios with changing environments such as rescue, surveillance, cleaning and transport. This project contributes to the development with the Heuristics-Based Explorer (HBE) and the experimental framework created for it. The HBE presents a novel method that integrates consolidated heuristics with a state-of-the-art computer vision heuristic. The evaluation consists of a functional model of a simulated mobile robot with sensing capabilities and a set of indoor environments to test the algorithm. This article presents a detailed description of the HBE, the system surrounding it and the experiments designed for its characterization. The results show that the proposed method outperforms existing solutions.

Original language	English
Title of host publication	2019 Third IEEE International Conference on Robotic Computing (IRC)
Number of pages	8
Publisher	IEEE
Publication date	26. Mar 2019
Pages	1-8
ISBN (Print)	978-1-5386-9246-2
ISBN (Electronic)	978-1-5386-9245-5
DOIs	https://doi.org/10.1109/IRC.2019.00010
Publication status	Published - 26. Mar 2019
Event	The 3rd IEEE International Conference on Robotic Computing - Centro Congressi Federico II via Partenope, Naples, Italy Duration: 25. Feb 2019 → 27. Feb 2019

Conference

Conference	The 3rd IEEE International Conference on Robotic Computing
Location	Centro Congressi Federico II via Partenope
Country/Territory	Italy
City	Naples
Period	25/02/2019 → 27/02/2019

Keywords

Exploration
Navigation
SLAM

Documents & Links

10.1109/IRC.2019.00010

Cite this

@inproceedings{5c52d45caf5045f0be9ee92e32cbc3e6,

title = "Heuristics-Based Explorer for 2D Navigation",

abstract = "Explorer algorithms are important in the process of creating maps in unknown environments, which is an essential functionality in scenarios with changing environments such as rescue, surveillance, cleaning and transport. This project contributes to the development with the Heuristics-Based Explorer (HBE) and the experimental framework created for it. The HBE presents a novel method that integrates consolidated heuristics with a state-of-the-art computer vision heuristic. The evaluation consists of a functional model of a simulated mobile robot with sensing capabilities and a set of indoor environments to test the algorithm. This article presents a detailed description of the HBE, the system surrounding it and the experiments designed for its characterization. The results show that the proposed method outperforms existing solutions.",

keywords = "Exploration, Navigation, SLAM",

author = "Hortelano, {Juan Luis} and Norbert Kr{\"u}ger and Jorge Rodr{\'i}guez",

year = "2019",

month = mar,

day = "26",

doi = "10.1109/IRC.2019.00010",

language = "English",

isbn = "978-1-5386-9246-2",

pages = "1--8",

booktitle = "2019 Third IEEE International Conference on Robotic Computing (IRC)",

publisher = "IEEE",

address = "United States",

note = "The 3rd IEEE International Conference on Robotic Computing, IRC 2019 ; Conference date: 25-02-2019 Through 27-02-2019",

}

TY - GEN

T1 - Heuristics-Based Explorer for 2D Navigation

AU - Hortelano, Juan Luis

AU - Krüger, Norbert

AU - Rodríguez, Jorge

PY - 2019/3/26

Y1 - 2019/3/26

N2 - Explorer algorithms are important in the process of creating maps in unknown environments, which is an essential functionality in scenarios with changing environments such as rescue, surveillance, cleaning and transport. This project contributes to the development with the Heuristics-Based Explorer (HBE) and the experimental framework created for it. The HBE presents a novel method that integrates consolidated heuristics with a state-of-the-art computer vision heuristic. The evaluation consists of a functional model of a simulated mobile robot with sensing capabilities and a set of indoor environments to test the algorithm. This article presents a detailed description of the HBE, the system surrounding it and the experiments designed for its characterization. The results show that the proposed method outperforms existing solutions.

AB - Explorer algorithms are important in the process of creating maps in unknown environments, which is an essential functionality in scenarios with changing environments such as rescue, surveillance, cleaning and transport. This project contributes to the development with the Heuristics-Based Explorer (HBE) and the experimental framework created for it. The HBE presents a novel method that integrates consolidated heuristics with a state-of-the-art computer vision heuristic. The evaluation consists of a functional model of a simulated mobile robot with sensing capabilities and a set of indoor environments to test the algorithm. This article presents a detailed description of the HBE, the system surrounding it and the experiments designed for its characterization. The results show that the proposed method outperforms existing solutions.

KW - Exploration

KW - Navigation

KW - SLAM

U2 - 10.1109/IRC.2019.00010

DO - 10.1109/IRC.2019.00010

M3 - Article in proceedings

SN - 978-1-5386-9246-2

SP - 1

EP - 8

BT - 2019 Third IEEE International Conference on Robotic Computing (IRC)

PB - IEEE

T2 - The 3rd IEEE International Conference on Robotic Computing

Y2 - 25 February 2019 through 27 February 2019

ER -

Heuristics-Based Explorer for 2D Navigation

Abstract

Conference

Keywords

Documents & Links

Fingerprint

Cite this