Mobile robot active exploration based on dynamic deployment of landmarks
Fengchi Sun · Control theory & applications · 2009
The on-line dynamic deployment of landmarks and the active exploration in environment without pre-placed landmarks are investigated.Firstly,the rules for landmark deployment are proposed and the effect of the deployed land-marks is analyzed.Secondly,based on the extended Kalman filter(EKF),we convert the active exploration into a problem of multi-objective optimal control,in which the objective function includes three parts,i.e.the accuracy of localization and mapping,the predictive area of the unknown environment to be explored by the robot,and the information obtained from the deployed landmarks.The robot employs the control inputs that optimize the objective function such that the accurate map building and the complete exploration are realized.Afterwards,the supplementation and the redundancy elimination for landmarks are implemented.Finally,the simulation is presented to show the effectiveness of our approach.