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Autonomous Mobile Robot Exploration in Negative Obstacle Environment

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dc.contributor.authorKeskin, Numan
dc.contributor.authorUslu, Erkan
dc.contributor.authorCakmak, Furkan
dc.contributor.authorAltuntas, Nihal
dc.contributor.authorAmasyali, M. Fatih
dc.contributor.authorYavuz, Sirma
dc.date.accessioned2026-06-27T14:05:37Z
dc.date.issued2017
dc.description.abstractRestricted 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).en
dc.identifier.isbn978-1-5090-6494-6
dc.identifier.issn2165-0608
dc.identifier.urihttps://hdl.handle.net/20.500.14981/56908
dc.identifier.wos000413813100124
dc.language.isotur
dc.publisherIEEE
dc.relation.conference25th Signal Processing and Communications Applications Conference (SIU)
dc.relation.ispartof2017 25TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU)
dc.subject2D localization
dc.subject3D mapping
dc.subject2D navigation
dc.subject2D exploration
dc.subjectOctoMap
dc.subjectautonomous mobile robot
dc.subjectnegative obstacles
dc.subjectAcoustics
dc.subjectComputer Science
dc.subjectEngineering
dc.subjectTelecommunications
dc.titleAutonomous Mobile Robot Exploration in Negative Obstacle Environment
dc.typeProceedings Paper
dspace.entity.typePublication
local.import.sourceWOS

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