Active Mapping and Robot Exploration: A Survey

Sensors

Iker Lluvia¹  Ander Ansuategi¹  Elena Lazkano² 

[1] Autonomous and Intelligent Systems Unit, Fundación Tekniker, 20600 Eibar, Gipuzkoa, Spain;Robotics and Autonomous Systems Group (RSAIT), Computer Science and Artificial Intelligence Department, Faculty of Informatics, University of the Basque Country (UPV/EHU), 20018 Donostia, Gipuzkoa, Spain;

关键词: mobile robots;    mapping;    exploration;    frontiers;    next best view;    path planning;   

DOI  :  10.3390/s21072445

来源: DOAJ

【 摘 要 】

Simultaneous localization and mapping responds to the problem of building a map of the environment without any prior information and based on the data obtained from one or more sensors. In most situations, the robot is driven by a human operator, but some systems are capable of navigating autonomously while mapping, which is called native simultaneous localization and mapping. This strategy focuses on actively calculating the trajectories to explore the environment while building a map with a minimum error. In this paper, a comprehensive review of the research work developed in this field is provided, targeting the most relevant contributions in indoor mobile robotics.

【 授权许可】

Unknown