SLAM-SEAN for Higher Autonomy of Mobile Robots in Unknown Environment
Jingqiu ZUO, Takanobu Yamamoto, Tomomichi Sugihara · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2020
SLAM-SEAN (Simultaneous Localization and Mapping-Simultaneous Exploration and Navigation) framework for a mobile robot to work autonomously in unknown environments is proposed. An implementation of the framework was completed by a combination of a local-minimum-free artificial potential method and a frontier-based approach suggested in the previous work where a particle filter SLAM is involved. The validity of the implementation was verified through simulations. Some other conditions to see applicability of the method to various environments were also discussed.