A Fast 3D Exploration Algorithm for Autonomous Aerial Robots

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

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

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/siu.2017.7960298
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • Yıldız Teknik Üniversitesi Adresli: Evet

Özet

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.