Autonomous exploration planning strategy for a reconnaissance agent

Nilanga Thelasingha, Sachini Ekanayake, Bavantha Udugama, G. M.R.I. Godaliyadda, M. P.B. Ekanayake, B. G.L.T. Samaranayake, J. V. Wijayakulasooriya

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

This work outlines a practically realizable yet intelligent, exploration planning strategy developed for guiding a recon agent in an unknown environment with no prior information available. The data acquired on the locale through an off the shelf 2D Laser Range Finder (LRF), has been interpreted as a spatial information spectrum. Utilizing LRFs is a trending method of distance measurement in contrast to ultrasonic sensors with errors like cross talk and specular reflections or power-hungry vision systems. As the LRF readings too contain some noise due to reflectivity problems, methods were developed for preprocessing the measurements. The gathered information spectrum is analyzed through the developed intelligent system to identify the explorable candidate regions and the path planning method has been developed so that the efficacy of exploration is preserved. A novel method of adaptive stepping, which guarantees the optimum exploration capability in environments cluttered with a variety of obstacles, has been introduced, hence, enabling the mobile agent to explore both large open spaces and narrow cluttered spaces without collision. Also, the proposed method of 'Intelligent Neighbor Identification' has pushed the information extraction to a maximum while pulling the number of scans and unnecessary traversals to a minimum. The Developed system has been simulated, emulated and tested against complex sceneries. It was implemented on a 4WD mobile platform and tested against real environments. Through a comparison of various scenarios, the robustness of the system was confirmed.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Industrial and Information Systems, ICIIS 2017 - Proceedings
PublisherIEEE
Pages1-6
Number of pages6
ISBN (Electronic)9781538616741
DOIs
Publication statusPublished - 22 Feb 2018
Externally publishedYes
Event12th IEEE International Conference on Industrial and Information Systems, ICIIS 2017 - Peradeniya, Sri Lanka
Duration: 15 Dec 201716 Dec 2017
Conference number: 12

Conference

Conference12th IEEE International Conference on Industrial and Information Systems, ICIIS 2017
Abbreviated titleICIIS 2017
Country/TerritorySri Lanka
CityPeradeniya
Period15/12/1716/12/17

Keywords

  • Adaptive stepping
  • Autonomous exploration
  • LIDAR
  • Reconnaissance
  • Robot Navigation
  • n/a OA procedure

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