Exploration method using harmonic functions

Harmonic functions provide optimal potential maps for robot navigation in a previously explored static environment. Here we investigate the performance of an algorithm for exploration based on partial updates of a harmonic potential in an occupancy grid. We consider that while the robot moves it carries along an activation window whose size is of the order of the sensor's range. The activation window recruits grid points to participate in the potential calculation. By using simulations and experiments with the Nomad 200 robot we investigate the algorithm performance in respect to parameters such as the frequency of updates and the numerical method used to calculate the harmonic potential.

• Type: Journal
• Year: 2002
• Where: RAS
• Authors: Edson Prestes e Silva Jr., Paulo Martins Engel, Marcelo Trevisan, Marco Aurélio Pires Idiart
• Keywords: Activation Window, Harmonic Potential, Optimal Potential Maps, RAS 2002