A fast 3D exploration algorithm for autonomous aerial robots Otonom Hava Robotlari Için Hizli Bir 3 Boyutlu Keşsif Algoritmasi

Marangoz S., Ergun E. E., Uslu E., Çakmak F., Altuntas N., Amasyalı M. F., ...More

25th Signal Processing and Communications Applications Conference, SIU 2017, Antalya, Turkey, 15 - 18 May 2017 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu.2017.7960298
  • City: Antalya
  • Country: Turkey
  • Keywords: 3D Exploration, Aerial Robot, Autonomous, Gazebo, ROS, Three Dimensional AStar Three Dimensional CCL, Three Dimensional Costmap
  • Istanbul Gelisim University Affiliated: No

Abstract

In the scope of the study, it was aimed to discover a closed multi-storey environment with autonomous air robots and produce a three dimensional map. In order to reduce the complexity of the three-dimensional exploration algorithm, we have developed Target Elimination Method that can calculate the result by narrowing the problem space. The Target Elimination Method ensures that the exploration algorithm is faster to explore the environment as it reduces the calculation time.