Active pose SLAM with RRT*
Document typeConference report
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
We propose a novel method for robotic exploration that evaluates paths that minimize both the joint path and map entropy per meter traveled. The method uses Pose SLAM to update the path estimate, and grows an RRT* tree to generate the set of candidate paths. This action selection mechanism contrasts with previous appoaches in which the action set was built heuristically from a sparse set of candidate actions. The technique favorably compares agains the classical frontier- based exploration and other Active Pose SLAM methods in simulations in a common publicly available dataset.
CitationVallve, J., Andrade-Cetto, J. Active pose SLAM with RRT*. A: IEEE International Conference on Robotics and Automation. "2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015". Seattle, WA: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 2167-2173.