Browsing by Author "Martins, Pedro Miguel Serrão Da Veiga"
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- Mapas Topológicos para Exploração Robótica de Minas Subterrâneas SubmersasPublication . Martins, Pedro Miguel Serrão Da Veiga; Martins, Alfredo Manuel OliveiraThe mapping of confined environments in mobile robotics is traditionally tackled in dense occupancy maps, requiring large amounts of storage. For some use cases, such as the exploration of flooded mines, the use of dense maps in processing slow down processes like path generation. I introduce a method of generating topological maps in constrained spaces such as mines. By taking a structure with fewer points, traversal and storage of explored space can be made more efficient, avoiding com plex graphs generated by methods like RRT and it’s variants. It’s simpler structure also allows for more intuitive human-machine interactions with it’s fewer points. I also introduce an autonomous frontier-based exploration approach to generate the topological map during exploration, taking advantage of it’s traversal to navigate through known space. With this work, simulation tests show it is possible to success fully extract a simpler graph structure describing the topology during autonomous exploration and that this structure is robust through explored regions