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https://idr.nitk.ac.in/jspui/handle/123456789/14833
Title: | Geometrical Mapping of an Initially Unknown Region by a Mobile Robot |
Authors: | Marpally S.R. Nagarakshith M.S. Sadananda A. Guruprasad K.R. |
Issue Date: | 2019 |
Citation: | 2019 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2019 - Proceedings , Vol. , , p. - |
Abstract: | In this paper, we address a problem of mapping an unknown region of interest by a mobile robot. Unlike the conventional exploration and mapping techniques where the occupancy map of a spatially discretized environment is obtained, in the proposed Geometric Mapping (G-Mapping) strategy, the map is obtained in the form of geometric models of the obstacles, in a continuous space. For simplicity, we consider convex polygonal obstacles within a convex region. The proposed exploration strategy is implemented using MATLAB. The simulation results are presented to illustrate and demonstrate the G-Mapping strategy. © 2019 IEEE. |
URI: | https://doi.org/10.1109/DISCOVER47552.2019.9008095 http://idr.nitk.ac.in/jspui/handle/123456789/14833 |
Appears in Collections: | 2. Conference Papers |
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