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)