AUTONOMOUS EXPLORATION FRAMEWORK FOR INDOOR MOBILE ROBOTICS USING REDUCED APPROXIMATED GENERALIZED VORONOI GRAPH

摘要

An autonomous robotic exploration method based on a reduced approximated generalized Voronoi graph, the method including: 1) constructing a reduced approximated generalized Voronoi topological map based on a morphological method; 2) obtaining an Next-Best-View and planning a global path from the robot to the Next-Best-View; and 3) navigating to the Next-Best-View along the global path R={r₀, r₁, r₂, . . . , p_NBV} based on a visual force field (VFF) algorithm.