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Experimental Evaluation of Some Exploration Strategies for Mobile Robots
 

Summary: Experimental Evaluation of Some Exploration Strategies
for Mobile Robots
Francesco Amigoni
Abstract-- The ability of building maps of environments
where they operate is one of the main requirements for
autonomous mobile robots. An efficient map building process
is based on a good exploration strategy that determines the
most convenient observation positions in a partially known en-
vironment in order to incrementally map it. Several exploration
strategies have been proposed in literature but their compar-
ative evaluations are rare. In this paper, we experimentally
compare some exploration strategies in order to contribute to
assess their strengths and weaknesses.
I. INTRODUCTION
The ability to build spatial models, or maps, of envi-
ronments where they operate is undoubtedly one of the
main requirements for autonomous mobile robots [1]. To be
efficient in map building, an autonomous robot needs a good
exploration strategy that determines the most convenient
observation positions in a partially known environment in

  

Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano

 

Collections: Computer Technologies and Information Sciences