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Summary: On evaluating performance of exploration strategies
for an autonomous mobile robot
Nicola Basilico and Francesco Amigoni
Abstract-- The performance of an autonomous mobile robot
in mapping an unknown environment is strongly related to
its exploration strategy. Evaluation and comparison of explo-
ration strategies are still waiting for the definition of standard
benchmark methodologies. In this paper, we contribute in
this direction by discussing some critical issues we faced in
experimentally evaluating exploration strategies.
I. INTRODUCTION
The task of robot mapping [1] concerns the construction
of spatial representations of environments by means of
autonomous mobile robots. In mapping, autonomous robots
move within the environment where they have been deployed
for acquiring data. Exploration strategies determine the lo-
cations reached by the robots, within the partially explored
environment. The definition of a good strategy is an im-
portant aspect which strongly influences robot performance
in mapping tasks. Different exploration strategies have been
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