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Optimal Exploration in Unknown Environments


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This paper presents an algorithm that optimallyexplores an unknown environment with regions of varyingdegrees of importance. The algorithm, termedErgodic Environmental Exploration E³, is a finite receding horizon optimal control algorithm that minimizes control effort and the differencebetween the time average behavior of the system’s trajectoryand the distribution of the gain in information. The novelty ofthe E³ algorithm is the gain in information distribution used inthe exploration trajectory optimization. The gain in informationdistribution uses an estimate of the information distribution andthe confidence value on that estimate. Successful experimentshave been conducted using E³ on a real mobile robot to explorean unknown 2-dimensional area. Results of these experimentsare discussed and displayed with figures and a movie.



Georgia Robotics and InTelligent Systems Laboratory GRITS Publications - Georgia Robotics and InTelligent Systems Laboratory GRITS -



Autor: O’Flaherty, Rowland - Egerstedt, Magnus B. - -

Fuente: https://smartech.gatech.edu/







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