EXPLORATION METHOD IMPROVEMENTS OF AUTONOMOUS ROBOT FOR A 2-D ENVIRONMENT NAVIGATION

Nien-Yu Chen ； Jinsiang Shaw ； Hsien-I Lin

《Journal of Marine Science and Technology》 25卷1期 (2017/02) Pp. 34-42

https://doi.org/10.6119/JMST-016-0719-1

摘要

This paper presents a method for integrating different algorithms for building an autonomous robot. The developed robot has the ability to construct the 2-D map of an unknown environment, localize itself in the map, explore undiscovered area, and path finding. In order to efficiently explore a map, we propose an exploration method. Additionally, improvements of conventional A* algorithm are proposed. Experimental results show that the developed robot is capable of navigating an unknown indoor environment with random obstacles.

關鍵字

autonomous robot ； iterative closest point ； path planning ； robot navigation