Fuzzy evaluation based exploring planning for map building in unknown environment
Yong Liu · Journal of Zhejiang University(Engineering Science) · 2010
A fuzzy evaluation based approach was proposed to solve the exploring problem for autonomous robotic mapping in unknown environment to deal with the fuzziness and uncertainty of unknown environmental information.The approach classified the frontiers which were between the known and unknown areas of grid map according to their distance and feasibility,and then chose the points with higher priority as candidates.Distances between the candidate points and current position,information gains and localizability were evaluated in fuzzy rules.The selection of the next observing pose or a series of next poses in path was achieved in low computational cost with the fuzzy evaluation.Then the exploration was finished,and the grid map and the feature map were accurately constructed.Experimental results demonstrate that the approach can improve the efficiency of exploring and achieve high performance in real-time planning.