摘要
自主环境探索能力是衡量移动机器人智能性的重要标准之一。在室内二维栅格地图的基础上,提出了一种基于前沿评估的移动机器人自主环境探索方法,该方法采用联合广度优先搜索方法提取栅格地图的前沿栅格,并在前沿栅格的评判过程中引入前沿栅格的信息增益和代价值,以优化最佳探索点搜索策略。利用实际移动机器人平台,在室内办公环境与传统前沿搜索方法进行了对比试验,实验结果证明所提方法在探索时间、探索路径长度及探索效率方面均优于传统方法。
The ability of autonomous environment exploration is one of the important standards to measure the intelligence of mobile robot.Based on the indoor 2D grid map,this paper proposes a mobile robot autonomous environment exploration method based on the frontier evaluation,which uses jointed breadth-first search methods to extract the frontiers in the grid map,and introduces the information gain and generation value of the frontiers in the evaluation process to optimize the search strategy of the best exploration point.Using the actual mobile robot platform,a comparative test is carried out with the traditional frontier evaluation method in an indoor environment.The experimental results show that the proposed method is superior to the traditional method in terms of exploration time,exploration path length and exploration efficiency.
作者
王栎斐
边防
侯宝
闫飞
郑仁成
WANG Li-fei;BIAN Fang;HOU Bao;YAN Fei;ZHENG Ren-cheng(School of Control Science and Engineering,Dalian University of Technology,Dalian 116024,China;Beijing Jingqiao Thermal Power Co.,Ltd,Beijing 100067,China;Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300072,China)
出处
《控制工程》
CSCD
北大核心
2020年第S01期25-31,共7页
Control Engineering of China
关键词
自主环境探索
前沿评估
移动机器人
Autonomous environment exploration
frontier evaluation
mobile robot
