Autonomous exploration and mapping of unknown environments

Jason Owens; Phil Osteen; MaryAnne Fields

doi:10.1117/12.919147

25 May 2012 Autonomous exploration and mapping of unknown environments

Jason Owens, Phil Osteen, MaryAnne Fields

Proceedings Volume 8387, Unmanned Systems Technology XIV; 838717 (2012) https://doi.org/10.1117/12.919147
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

Autonomous exploration and mapping is a vital capability for future robotic systems expected to function in arbitrary complex environments. In this paper, we describe an end-to-end robotic solution for remotely mapping buildings. For a typical mapping system, an unmanned system is directed to enter an unknown building at a distance, sense the internal structure, and, barring additional tasks, while in situ, create a 2-D map of the building. This map provides a useful and intuitive representation of the environment for the remote operator. We have integrated a robust mapping and exploration system utilizing laser range scanners and RGB-D cameras, and we demonstrate an exploration and metacognition algorithm on a robotic platform. The algorithm allows the robot to safely navigate the building, explore the interior, report significant features to the operator, and generate a consistent map - all while maintaining localization.

Citation Download Citation

Jason Owens, Phil Osteen, and MaryAnne Fields "Autonomous exploration and mapping of unknown environments", Proc. SPIE 8387, Unmanned Systems Technology XIV, 838717 (25 May 2012); https://doi.org/10.1117/12.919147

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