Sensor fusion-based exploration in Home environments using information, Driving and Localization Gains (usage information, driving and location based on sensors fusion The quest for gain in a family environment)

Authors:joong-tae Park, Jae-bok Song

Department:department of Mechanical Engineering, Korea University, Anam-ro 145, Seongbuk-gu, Seoul, South Korea (Department of Mechanical Engineering, Korean University, Korea)

Exploration is one of the most important functions for a mobile service robot because a map are required to carry out Various tasks. a suitable strategy is needed to ef?ciently explore a environment and to build an accurate Map. This  study  proposed  the  use  of  several  gains   (information,   Driving,  localization)  that if considered during exploration, can simultaneously improve the ef?ciency O F The Exploration Process and  quality  of  the  resulting  map. considering   The  information  and  driving  gains  reduces  behavior  that leads a robot to E Xplore a previously visited Place, and  thus  the  exploration  distance  is  reduced .  in addition, the robot can select a favorable path for localization by considering the localization gain Durin G exploration,  and  The  robot  can  estimate  its  pose  more  robustly  than  other   Methods  that  do  not  consider localizability during Exploration. this proposed Exploration method was verified by various Experiments, which  verified  that  a  robot  ca n  build  an  accurate  map  fully  autonomously  and  effciently  in  various  home environments  using  the  proposed  method. (Exploration is one of the most important features of a mobile service robot, because maps are a necessity for performing different tasks.) Therefore, appropriate strategies are needed to effectively explore an environment and generate accurate maps. This study suggests that if you use multiple increments [information, driving, location] in exploration, you will be able to synchronously improve the effectiveness of the exploratory process and the quality of the generated map. Considering the information and driving increment will reduce the behavior of the robot to explore places that have been before, so the exploration distance is reduced. In addition, in the exploration of the location of the robot will be able to choose the location of the effective path, thus the robot)

Sensor fusion-based Exploration in Home environments using information, Driving and Localization Gains (usage information based on sensor fusion, driving and position gain in the home environment)