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Authors: Joong-Tae Park, Jae-Bok Song
Department:Department of Mechanical Engineering, Korea University, Anam-ro 145, Seongbuk-gu, Seoul, South Korea(机械工程系，高丽大学，韩国)
Exploration is one of the most important functions for a mobile service robot because a map is required to carry out various tasks. A suitable strategy is needed to ef?ciently explore an environment and to build an accurate map. This study proposed the use of several gains (information, driving, localization) that if considered during exploration, can simultaneously improve the ef?ciency of the exploration process and quality of the resulting map. Considering the information and driving gains reduces behavior that leads a robot to explore a previously visited place, and thus the exploration distance is reduced. In addition, the robot can select a favorable path for localization by considering the localization gain during exploration, and the robot can estimate its pose more robustly than other methods that do not consider localizability during exploration. This proposed exploration method was verified by various experiments, which verified that a robot can build an accurate map fully autonomously and effciently in various home environments using the proposed method.(探索是移动服务机器人最重要的功能之一，因为地图是执行不同任务的必需品。因此需要合适的策略来有效地探索一个环境并且生成准确的地图。这个研究提出如果在探索中使用多个增量[信息，驾驶，位置]，将能同步地提高探索过程的有效性和生成地图的质量。考虑信息和驾驶增量将降低机器人探索之前已经到过的地方的行为，因此探索距离被减小的。除此之外，在探索时考虑位置机器人将能选择对位置有效的路径，因而机器人)
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原文地址：http://www.cnblogs.com/2008nmj/p/4938464.html
