Application of traversability maps in the Virtual Rescue competition
Moniek van der Velden, Wouter Josemans, B. Huijten, Arnoud Visser · UvA-DARE (University of Amsterdam) · 2010
This paper describes an exploration behavior which has been designed to explore large indoor areas. While exploring, traversability information is saved onto a layer in the map. This information is used in an A* algorithm has been implemented and is used for path planning. This approach allows the robot to learn from its experience and to find in the long run the "ideal line" to driving through the indoor environment.