Experimental Evaluation of Some Indoor Exploration Strategies

Jens Wettach, Karsten Berns

2016

Abstract

A key capability of any indoor service robot is to explore arbitrary, unknown environments in order to record a complete and correct map in minimal time. Such a map is a prerequisite of common tasks like surveillance, transportation as well as search and rescue. In recent years a series of solutions has been proposed by the authors: a dynamic enhancement of the frontier-based approach, ground plan-based exploration and a hybrid combination of both. This paper evaluates the performance of each of these strategies within an everyday office scenario in simulation and reality and discusses their pros and cons.

Paper Citation

in Harvard Style

Wettach J. and Berns K. (2016). Experimental Evaluation of Some Indoor Exploration Strategies . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 280-287. DOI: 10.5220/0005977502800287

in Bibtex Style

@conference{icinco16,
author={Jens Wettach and Karsten Berns},
title={Experimental Evaluation of Some Indoor Exploration Strategies},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={280-287},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005977502800287},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Experimental Evaluation of Some Indoor Exploration Strategies
SN - 978-989-758-198-4
AU - Wettach J.
AU - Berns K.
PY - 2016
SP - 280
EP - 287
DO - 10.5220/0005977502800287