Heuristic Search Planning to Reduce Exploration Uncertainty

David Meger, Ioannis Rekleitis, Gregory Dudek
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2008.


Abstract:The path followed by a mobile robot while mapping an environment (i.e.an exploration trajectory) plays a large role in determining the efficiency of the mapping process and the accuracy of any resulting metric map of the environment. This paper examines some important aspects of path planning in this context: the trade-offs between the speed of the exploration process versus the accuracy of resulting maps; and alternating between exploration of new territory and planning through known maps.The resulting motion planning strategy and associated heuristic are targeted to a robot building a map of an environment assisted by a Sensor Network composed of uncalibrated monocular cameras. Anadaptive heuristic exploration strategy basedon A search over a combinedd istance and uncertainty cost function allows for adaptation to the environment and improvement in mapping accuracy. We assess the technique using an illustrative experiment in areal environment and aset of simulations inaparametric family of idealized environments.



  author       = {David Meger and Ioannis Rekleitis and Gregory Dudek},
  title        = {Heuristic Search Planning to Reduce Exploration
  booktitle    = {IEEE/RSJ International Conference on Intelligent Robots
		 and Systems (IROS)},
  pages        = {3382 - 3399},
  year	       = {2008},
  address      = {Nice, France,}

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