Exploring Unknown Environments with RRT-Based Strategies - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Reports Year : 2007

Exploring Unknown Environments with RRT-Based Strategies

Abstract

Real mobile robots should be able to build an abstract re- presentation of the physical environment, in order to navigate and to work in such environment. We present a method for sensor-based exploration of unknown environments by mobile robots. This method proceeds by building a data structure called SRT (Sensor-based Random Tree). The SRT represents a roadmap of the explored area with an associated safe region, and estimates the free space as perceived by the robot during the exploration. The original work proposed in [10] presents two techniques: SRT-Ball and SRT-Star. In this paper, we propose an alternative strategy called SRT-Radial that deals with non-holonomic constraints using two alternative planners named SRT Extensive and SRT Goal. We present experimental results to show the performance of the SRT-Radial and both derived planners.
Fichier principal
Vignette du fichier
Sanchez_Zapata_SRT.pdf (630.46 Ko) Télécharger le fichier
Loading...

Dates and versions

lirmm-00195559 , version 1 (11-12-2007)

Identifiers

  • HAL Id : lirmm-00195559 , version 1

Cite

Abraham Sánchez Lopez, René Zapata. Exploring Unknown Environments with RRT-Based Strategies. RR-07028, 2007. ⟨lirmm-00195559⟩
209 View
449 Download

Share

Gmail Facebook X LinkedIn More