A Frontier-Void-Based Approach for Autonomous Exploration in 3D
2013 (English)In: Advanced Robotics, ISSN 0169-1864, E-ISSN 1568-5535, Vol. 27, no 6, 459-468Article in journal (Refereed) Published
We consider the problem of an autonomous robot searching for objects in unknown 3d space. Similar to the well known frontier-based exploration in 2d, the problem is to determine a minimal sequence of sensor viewpoints until the entire search space has been explored. We introduce a novel approach that combines the two concepts of voids, which are unexplored volumes in 3d, and frontiers, which are regions on the boundary between voids and explored space. Our approach has been evaluated on a mobile platform equipped with a manipulator searching for victims in a simulated USAR setup. First results indicate the real-world capability and search efficiency of the proposed method.
3D exploration, next best view, frontier-void
National CategoryEngineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-72517DOI: 10.1080/01691864.2013.763720ISI: 000316112500005OAI: oai:DiVA.org:liu-72517DiVA: diva2:459933
ProjectsArtificial Intelligence & Integrated Computer Systems
Funding Agencies|Deutsche Forschungsgemeinschaft in the Transregional Collaborative Research Center|SFB/TR8|2011-11-292011-11-282013-04-11Bibliographically approved