Autonomous exploration and map building for robot in urban environments
Automated exploration has become a crucial technology for mobile robots, and numerous mature algorithms have emerged. However, few exploration methods leverage prior knowledge of the environment to enhance exploration efficiency. This dissertation presents a novel autonomous exploration and mapping...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2024
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| Online Access: | https://hdl.handle.net/10356/179962 |
| _version_ | 1826123516142944256 |
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| author | Mao, Kaimin |
| author2 | Wang Dan Wei |
| author_facet | Wang Dan Wei Mao, Kaimin |
| author_sort | Mao, Kaimin |
| collection | NTU |
| description | Automated exploration has become a crucial technology for mobile robots, and numerous mature algorithms have emerged. However, few exploration methods leverage prior knowledge of the environment to enhance exploration efficiency. This dissertation presents a novel autonomous exploration and mapping algorithm for robots in urban environments. The algorithm employs a robust traversability mapping module that records road boundaries as obstacles on the generated 2D costmap. Based on this, the algorithm samples known road areas using the Bresenham algorithm to generate sampling points. Clustering methods are then used to produce exploration points, allowing the robot to navigate along roads. The robot can make decisions at junctions, store unexplored directions, and ultimately achieve efficient exploration of the entire road network in a set area. The algorithm has been tested on both simulation and real-world platforms and compared with several classical 2D costmap-based exploration algorithms, demonstrating its efficiency and robustness. |
| first_indexed | 2024-10-01T06:05:57Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/179962 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:05:57Z |
| publishDate | 2024 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1799622024-09-09T00:59:05Z Autonomous exploration and map building for robot in urban environments Mao, Kaimin Wang Dan Wei School of Electrical and Electronic Engineering EDWWANG@ntu.edu.sg Computer and Information Science Engineering Autonomous exploration Automated exploration has become a crucial technology for mobile robots, and numerous mature algorithms have emerged. However, few exploration methods leverage prior knowledge of the environment to enhance exploration efficiency. This dissertation presents a novel autonomous exploration and mapping algorithm for robots in urban environments. The algorithm employs a robust traversability mapping module that records road boundaries as obstacles on the generated 2D costmap. Based on this, the algorithm samples known road areas using the Bresenham algorithm to generate sampling points. Clustering methods are then used to produce exploration points, allowing the robot to navigate along roads. The robot can make decisions at junctions, store unexplored directions, and ultimately achieve efficient exploration of the entire road network in a set area. The algorithm has been tested on both simulation and real-world platforms and compared with several classical 2D costmap-based exploration algorithms, demonstrating its efficiency and robustness. Master's degree 2024-09-06T05:20:04Z 2024-09-06T05:20:04Z 2024 Thesis-Master by Coursework Mao, K. (2024). Autonomous exploration and map building for robot in urban environments. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/179962 https://hdl.handle.net/10356/179962 en application/pdf Nanyang Technological University |
| spellingShingle | Computer and Information Science Engineering Autonomous exploration Mao, Kaimin Autonomous exploration and map building for robot in urban environments |
| title | Autonomous exploration and map building for robot in urban environments |
| title_full | Autonomous exploration and map building for robot in urban environments |
| title_fullStr | Autonomous exploration and map building for robot in urban environments |
| title_full_unstemmed | Autonomous exploration and map building for robot in urban environments |
| title_short | Autonomous exploration and map building for robot in urban environments |
| title_sort | autonomous exploration and map building for robot in urban environments |
| topic | Computer and Information Science Engineering Autonomous exploration |
| url | https://hdl.handle.net/10356/179962 |
| work_keys_str_mv | AT maokaimin autonomousexplorationandmapbuildingforrobotinurbanenvironments |