Please use this identifier to cite or link to this item: https://idr.l4.nitk.ac.in/jspui/handle/123456789/14833
Title: Geometrical Mapping of an Initially Unknown Region by a Mobile Robot
Authors: Marpally S.R.
Nagarakshith M.S.
Sadananda A.
Guruprasad K.R.
Issue Date: 2019
Citation: 2019 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2019 - Proceedings , Vol. , , p. -
Abstract: In this paper, we address a problem of mapping an unknown region of interest by a mobile robot. Unlike the conventional exploration and mapping techniques where the occupancy map of a spatially discretized environment is obtained, in the proposed Geometric Mapping (G-Mapping) strategy, the map is obtained in the form of geometric models of the obstacles, in a continuous space. For simplicity, we consider convex polygonal obstacles within a convex region. The proposed exploration strategy is implemented using MATLAB. The simulation results are presented to illustrate and demonstrate the G-Mapping strategy. © 2019 IEEE.
URI: https://doi.org/10.1109/DISCOVER47552.2019.9008095
http://idr.nitk.ac.in/jspui/handle/123456789/14833
Appears in Collections:2. Conference Papers

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