Autonomous Indoor Exploration Via Polygon Map Construction and Graph-Based SLAM Using Directional Endpoint Features

摘要

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 localization and mapping (SLAM) with directional endpoint features. This approach is composed of three modules: graph-based SLAM using directional endpoint features, polygon map construction, and exploration. Different from existing approaches in the field of 2-D SLAM, the newly proposed 2-D graph-SLAM is based on 3-D "directional endpoint" features; on this basis, a well-known data structure "circular-doubly linked list" is applied to construct a novel polygon map for navigation. Note that it is efficient for circular-doubly linked list to initialize and update the polygon map. In addition, we propose a new information entropy calculation approach to quantify the entropy of the polygon map. Then for each candidate goal, we could obtain corresponding information gain and make next decision through collision detection. Comparative experimental results with respect to the well-known Gmapping and Karto SLAM are presented to show superior performance of the proposed graph-based SLAM. The autonomous exploration experiments in the office and hallway environments show the effectiveness of the proposed approach for robotic mapping and exploration tasks. Note to Practitioners - This paper is motivated by the challenges of autonomous exploration for mobile robots. We suggest a novel autonomous exploration approach through directional endpoint feature-based graph simultaneous localization and mapping (SLAM) and polygon map construction. This newly proposed approach does not require any artificial landmark or underlying occupancy grid map, which is easy to implement. The experiments are carried out in the office and hallway environments, including graph-based SLAM and autonomous exploration for mobile robots. The experimental results show the effectiveness of the proposed autonomous exploration framework. In the future research, we will address autonomous exploration in more challenging dynamic environments.