Quantitative evaluation of the exploration strategies of an intelligent vehicle

@article{Lee1994QuantitativeEO,
  title={Quantitative evaluation of the exploration strategies of an intelligent vehicle},
  author={David A. Lee and Michael Recce},
  journal={Proceedings of the Intelligent Vehicles '94 Symposium},
  year={1994},
  pages={538-543}
}
Methods are described by which a simple mobile robot with a single rotating sonar sensor can systematically explore its environment and generate high-quality maps. Leonard and Durrant-Whyte's technique (1992) of grouping similar adjacent sonar returns is extended to sparse data. A new measure of map quality is defined, based on predicting the usefulness of the map for planning a benchmark set of routes. This quality metric is then used to evaluate the results of exploration experiments. Wall… CONTINUE READING

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