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App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 11

Autonomous exploration algorithm based on uniform scanning and attentive guidance explorer

Shen Weilina
Chen Huihuib
Guan Boliangb
Wang Aiguob
Yang Jianmaob
a. School of Electromechanical Engineering & Automation, b. School of Electronic & Information Engineering, Foshan University, Foshan Guangdong 528225, China
DOI: 10.19734/j.issn.1001-3695.2024.02.0074

Abstract

To solve the problem of difficulty for robots to quickly explore unknown environments with narrow entrances, as well as the decrease in exploration efficiency caused by wandering between targets with close exploration benefits, this paper proposed a self-exploration algorithm USAGE (Uniformly Scanning and Attentive Guidance Explorer) , which included uniform scanning and attentive guidance strategy. USAGE used the uniform scanning method to detect boundary points, and clustered the boundary points to obtain the points to be explored, and finally determined the optimal exploration target through an attentive guidance strategy. This strategy introduced the steering cost evaluation index into the traditional evaluation function containing information gain and path cost, and constrained the execution of the exploration task according to the robot's state, and guided the robot to focus on exploration. Through building a simulation environment in the robot operating system for verification, the experimental results show that compared with the exploration algorithm based on Rapidly-exploring Random Tree (RRT) , USAGE occupies less system memory by more than 11.34%, reduces the exploration time and exploration path level by 26.90% and 31.94% respectively, which improves autonomous exploration efficiency.

Foundation Support

国家自然科学基金资助项目(61972092)
广东省教育厅重点领域专项资助项目(2022ZDZX1026)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.02.0074
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 11

Publish History

[2024-05-20] Accepted Paper

Cite This Article

申伟霖, 陈荟慧, 关柏良, 等. 基于均匀扫描和专注引导策略的自主探索算法 [J]. 计算机应用研究, 2024, 41 (11). (2024-09-11). https://doi.org/10.19734/j.issn.1001-3695.2024.02.0074. (Shen Weilin, Chen Huihui, Guan Boliang, et al. Autonomous exploration algorithm based on uniform scanning and attentive guidance explorer [J]. Application Research of Computers, 2024, 41 (11). (2024-09-11). https://doi.org/10.19734/j.issn.1001-3695.2024.02.0074. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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