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JIRS
2006

Exploratory Navigation Based on Dynamical Boundary Value Problems

14 years 16 days ago
Exploratory Navigation Based on Dynamical Boundary Value Problems
The paper presents a general framework for concurrent navigation and exploration of unknown environments based on discrete potential fields that guide the robot motion. These potentials are obtained from a class of partial differential equation (PDE) problems called boundary value problems (BVP). The boundaries are generated from sensor readings and therefore they change as the robot moves. This framework corresponds to an extension of our previous work (Prestes et al., 2001; Prestes et al., 2002). Here, we propose that a careful choice of the PDE and the boundary conditions can produce efficient exploratory behaviors in sparse and dense environments. Furthermore, we show how to extend the exploratory behavior to produce new ones by changing dynamically the boundary function (the value of the potential at the boundaries ) as the exploration takes course. Our framework is validated through a series of experiments with a real robot in office environments.
Marcelo Trevisan, Marco Aurélio Pires Idiar
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2006
Where JIRS
Authors Marcelo Trevisan, Marco Aurélio Pires Idiart, Edson Prestes e Silva Jr., Paulo Martins Engel
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