Autonomous Mobile Robot Exploration in Negative Obstacle Environment

Keskin N., USLU E. , ÇAKMAK F., Altuntas N. , AMASYALI M. F. , YAVUZ S.

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


Restricted 3D simultaneous localization and mapping (SLAM) can be achived in an environment that has negative and positive obstacles, using a 2D SLAM and a 3D mapping together. Exploration can utilize 2D navigation, which uses a 2D map constructed with respect to 3D map obstacles both negative and positive, and free areas. Robocup, Rescue League, Exploration 4 competition is designed to measure real platform autonomous mobile robot exploration capabilities in an negative obstacle scene. In this paper aforementioned exploration approach is implemented in a simulation environment created in Gazebo similar to Exploration 4 arena, using Robot Operating System (ROS).