経路エントロピーを活用したアクティブSLAMの効用関数
Active SLAM Utility Function Exploiting Path Entropy
占有グリッドマップの経路エントロピーとD最適性基準を組み合わせ、未知領域の探索と自己位置推定・地図生成の不確かさ低減を両立するフロンティア選択手法を提案し、公開データセットで平均32%のカバレッジ向上を達成した。
著者: Muhammad Farhan Ahmed, Vincent Fremont, Isabelle Fantoni
分類: cs.RO
原文アブストラクト
In this article we present a utility function for Active SLAM (A-SLAM) which utilizes map entropy along with D-Optimality criterion metrices for weighting goal frontier candidates. We propose a utility function for frontier goal selection that exploits the occupancy grid map by utilizing the path entropy and favors unknown map locations for maximum area coverage while maintaining a low localization and mapping uncertainties. We quantify the efficiency of our method using various graph connectivity matrices and map efficiency indexes for an environment exploration task. Using simulation and experimental results against similar approaches we achieve an average of 32% more coverage using publicly available data sets.
