A Fast 3D Exploration Algorithm for Autonomous Aerial Robots

Marangoz S., Ergun E. E., USLU E., ÇAKMAK F., Altuntas N., AMASYALI M. F., ...More

25th Signal Processing and Communications Applications Conference (SIU), Antalya, Turkey, 15 - 18 May 2017 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/siu.2017.7960298
  • City: Antalya
  • Country: Turkey
  • Yıldız Technical University Affiliated: Yes

Abstract

In the scope of the study, it was aimed to discover a closed multi-storey environment with autonomous air robots and produce a three dimensional map. In order to reduce the complexity of the three-dimensional exploration algorithm, we have developed Target Elimination Method that can calculate the result by narrowing the problem space. The Target Elimination Method ensures that the exploration algorithm is faster to explore the environment as it reduces the calculation time.