Greedy mapping of terrain
Greedy mapping of terrain
复制标题
地形的贪心映射
DOI：
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复制
发表时间：
2001
期刊：
影响因子：
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通讯作者：
William Halliburton
中科院分区：
文献类型：
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作者：
Sven Koenig;C. Tovey;William Halliburton
我们研究了一个贪婪的映射方法，总是移动机器人从其当前位置到最近的位置，它还没有访问（或观察），直到地形被映射。虽然人们不期望这样一个简单的映射方法，以尽量减少机器人的行程距离，我们提出的分析结果表明（也许令人惊讶），机器人的行程距离是相当小的。这很有趣，因为贪婪映射有许多理想的属性。它易于实现并集成到完整的机器人架构中。它不需要在任何时候都控制反驳，利用关于部分地形的先验知识（如果可用），并且可以由多个机器人协作使用。
We study a greedy mapping method that always moves the robot from its current location to the closest location that it has not visited (or observed) yet, until the terrain is mapped. Although one does not expect such a simple mapping method to minimize the travel distance of the robot, we present analytical results that show (perhaps surprisingly) that the travel distance of the robot is reasonably small. This is interesting because greedy mapping has a number of desirable properties. It is simple to implement and integrate into complete robot architectures. It does not need to have control of the rebut at all times, takes advantage of prior knowledge about parts of the terrain (if available), and can be used by several robots cooperatively.