지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 970 - 974 (5page)
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초록· 키워드
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This paper presents an efficient backtracking strategy for frontier-based exploration in Sensor-based Random Tree (SRT). An existing backtracking of Frontier-Based SRT (FB-SRT) exploration is to just move back to the previous position which a robot already passed by. But in some cases, the robot generates a long detour to move to the position that has frontier areas. The proposed algorithm aims to make the previous FB-SRT strategy more efficient by modifying its backtracking algorithm. We show comparative simulations of the proposed algorithm and existing FB-SRT algorithm to identify the merits of the proposed strategy. The simulation results confirm that the robot can save exploration time and energy while it backtracks using the algorithm presented in this paper.
목차
Abstract
1. INTRODUCTION
2. FRONTIER-BASED STRATEGIES FOR SENSOR-BASED EXPLORATION
3. AN EFFICIENT BACKTRACKING METHOD OF FB-SRT
4. SIMULATION
5. CONCLUSION
REFERENCES
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