Autonomous Robotic Exploration by Incremental Road Map Construction

@article{Wang2019AutonomousRE,
  title={Autonomous Robotic Exploration by Incremental Road Map Construction},
  author={Chaoqun Wang and Wenzheng Chi and Yuxiang Sun and Max Q.-H. Meng},
  journal={IEEE Transactions on Automation Science and Engineering},
  year={2019},
  volume={16},
  pages={1720-1731}
}
In this paper, we propose a novel path planning framework for autonomous exploration in unknown environments using a mobile robot. A graph structure is incrementally constructed along with the exploration process. The structure is the road map that represents the topology of the explored environment. To construct the road map, we design a sampling strategy to get random points in the explored environment uniformly. A global path from the current location of the robot to the target area can be… CONTINUE READING

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