Heuristics-Based Explorer for 2D Navigation

Juan Luis Hortelano, Norbert Krüger*, Jorge Rodríguez

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-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 languageEnglish
Title of host publication2019 Third IEEE International Conference on Robotic Computing (IRC)
Number of pages8
PublisherIEEE
Publication date26. Mar 2019
Pages1-8
ISBN (Print)978-1-5386-9246-2
ISBN (Electronic)978-1-5386-9245-5
DOIs
Publication statusPublished - 26. Mar 2019
EventThe 3rd IEEE International Conference on Robotic Computing - Centro Congressi Federico II via Partenope, Naples, Italy
Duration: 25. Feb 201927. Feb 2019

Conference

ConferenceThe 3rd IEEE International Conference on Robotic Computing
LocationCentro Congressi Federico II via Partenope
CountryItaly
CityNaples
Period25/02/201927/02/2019

Keywords

  • Exploration
  • Navigation
  • SLAM

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