论文标题
虚拟地图，用于自主探索混乱的水下环境
Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments
论文作者
论文摘要
考虑到机器人的覆盖率，地图不确定性和状态估计不确定性，我们考虑了在未知环境中自动移动机器人探索的问题。本文为在混乱的环境中运行的水下机器人提供了一个新颖的探索框架，该框架是基于与成像声纳的同时定位和映射（SLAM）建立的。所提出的系统包括路径生成，使用虚拟图，放置识别预测，信念传播和实用性评估，该图估计了整个机器人工作区中与地图单元相关的不确定性。我们在模拟实验中评估了该框架的性能，这表明我们的算法在探索过程中保持较高的覆盖率，同时还保持低映射和定位误差。我们的框架的现实适用性也在探索港口环境的水下远程操作的车辆（ROV）上证明。
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for underwater robots operating in cluttered environments, built upon simultaneous localization and mapping (SLAM) with imaging sonar. The proposed system comprises path generation, place recognition forecasting, belief propagation and utility evaluation using a virtual map, which estimates the uncertainty associated with map cells throughout a robot's workspace. We evaluate the performance of this framework in simulated experiments, showing that our algorithm maintains a high coverage rate during exploration while also maintaining low mapping and localization error. The real-world applicability of our framework is also demonstrated on an underwater remotely operated vehicle (ROV) exploring a harbor environment.
