Local Map-based Exploration using Hybrid Search Algorithm for Mobile Robots（セミナー・シンポジウム）

平成２６年９月２２日（月）１６：００〜１７：００

情報科学研究科３棟５階　コラボレーションルーム７

Local Map-based Exploration using Hybrid Search Algorithm for Mobile Robots

Hyejeong Ryu
Postdoctoral researcher at the Robotics Laboratory of Mechanical Engineering at Pohang University of Science and Technology (POSTECH)

Abstract: Exploration is the autonomous process of determining a target
position to move to next for efficient mapping. Especially, for integrated
exploration, a robot incrementally constructs a map while simultaneously
localizes itself, and makes a local decisions on where to go next to
minimize the uncertainty in the map and the pose.
In this presentation, I describe the integrated exploration method that is
based on the management of the multiple local maps and their relative
transformations. Segmented frontiers and relative transformations between
them constitute a tree structure. By moving along the tree structure and
updating frontier nodes, a robot can efficiently construct a complete map
for the entire environment. In addition, a hybrid search algorithm is
developed to determine next target. Because the hybrid search algorithm can
autonomously change the exploration priority according to geometric
characteristics of the environment, it is more efficient and stable in
various environments than the breadth first search exploration or the depth
first search exploration.
Experimental results demonstrate the performance of the proposed local
map-based exploration in a corridor and in a hall environment. By
registering local maps and merging them during exploration, the robot
achieved the complete coverage of the entire environment. Also, the hybrid
search algorithm decided the next target efficiently in each environment.

Speaker: Hyejeong Ryu is a postdoctoral researcher at the Robotics
Laboratory of Mechanical Engineering at Pohang University of Science and
Technology (POSTECH). She received her B.S. and Ph.D. in Mechanical
Engineering from POSTECH. Her research interests are integrated exploration
of mobile robots including exploration strategy and simultaneous
localization and mapping, and computer vision including object detection in
images using visual features.
Mar.2001〜Feb.2006 B.S., Mechanical Engineering, POSTECH
Mar.2006〜Aug.2014 M.S.-Ph.D. Integrated Program, Mechanical Engineering,
POSTECH
Aug.2014〜Present Postdoctoral researcher at the Robotics Laboratory,
POSTECH