SLAM and exploration using differential evolution and fast marching

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Show simple item record Garrido Bullón, Luis Santiago Moreno Lorente, Luis Enrique Blanco Rojas, María Dolores 2022-02-21T15:05:27Z 2022-02-21T15:05:27Z 2011-07-05
dc.identifier.bibliographicCitation Moreno, L.; Garrido, S.; Blanco, D. (2011). SLAM and exploration using differential evolution and fast marching. Advances in Robot Navigation. Rijeka: Croacia: Intech. Pp. 81-98
dc.identifier.isbn 978-953-307-346-0
dc.identifier.isbn 978-953-51-5539-3 (online)
dc.description.abstract The exploration and construction of maps in unknown environments is a challenge for robotics. The proposed method is facing this problem by combining effective techniques for planning, SLAM, and a new exploration approach based on the Voronoi Fast Marching method. The final goal of the exploration task is to build a map of the environment that previously the robot did not know. The exploration is not only to determine where the robot should move, but also to plan the movement, and the process of simultaneous localization and mapping. This work proposes the Voronoi Fast Marching method that uses a Fast Marching technique on the Logarithm of the Extended Voronoi Transform of the environment"s image provided by sensors, to determine a motion plan. The Logarithm of the Extended Voronoi Transform imitates the repulsive electric potential from walls and obstacles, and the Fast Marching Method propagates a wave over that potential map. The trajectory is calculated by the gradient method.
dc.format.extent 18
dc.language.iso eng
dc.publisher Intech
dc.rights © 2011 The Author(s). Licensee IntechOpen.
dc.rights This chapter is distributed under the terms of the Creative Commons Attribution-NonCommercial-ShareAlike-3.0 License, which permits use, distribution and reproduction for non-commercial purposes, provided the original is properly cited and derivative works building on this content are distributed under the same license.
dc.rights Atribución-NoComercial-CompartirIgual 3.0 España
dc.subject.other Robotics
dc.subject.other Navigation
dc.subject.other SLAM
dc.title SLAM and exploration using differential evolution and fast marching
dc.type bookPart
dc.subject.eciencia Robótica e Informática Industrial
dc.rights.accessRights openAccess
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 81
dc.identifier.publicationlastpage 98
dc.identifier.publicationtitle Advances in Robot Navigation
dc.identifier.uxxi CO/0000006032
dc.affiliation.dpto UC3M. Departamento de Ingeniería de Sistemas y Automática
dc.affiliation.grupoinv UC3M. Grupo de Investigación: Laboratorio de Sistemas Inteligentes
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