IEEE - Institute of Electrical and Electronics Engineers, Inc. - Autonomous Indoor Exploration Via Polygon Map Construction and Graph-Based SLAM Using Directional Endpoint Features

Author(s): Haiming Gao ; Xuebo Zhang ; Jian Wen ; Jing Yuan ; Yongchun Fang
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2019
Volume: 16
Page(s): 1,531 - 1,542
ISSN (Electronic): 1558-3783
ISSN (Paper): 1545-5955
DOI: 10.1109/TASE.2018.2883587
Regular:

In this paper, a novel 2-D laser-based autonomous exploration approach for mobile robots is proposed, which is based on a novel polygon map construction approach and graph-based simultaneous... View More

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