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Final Project: Slam: Sebastián Chavez-Ferrer Julio Alberto Luna Pacho Víctor Vaquero Gómez
Final Project: Slam: Sebastián Chavez-Ferrer Julio Alberto Luna Pacho Víctor Vaquero Gómez
techniques
Frontier labeling. Greedy algorithm for finding the next goal. Unknown area discrimination for goals.
Results
Frontier Labeling
Connected-component labeling algorithm Dynamically generated frontiers Publish a marker in each frontier centroid
Greedy Algorithm
Navigation strategy applied
Transformation from relative to absolute coordinates
(TF listener).
Calculate the weight and centroids of the frontiers. Filter small frontiers to avoid errors. Look for the closest frontier. Select the goal
Goal Selection
Centroid can be in unknown area.
Goal Selection II
Solution: median point of the frontier Check free points on the perpendicular line to the
median point, at both sides of the frontier (yellow and green markers).
OR
If robot does not arrive to the goal:
Try random point surrounding the centroid, until one falls into the known area.
Patience: read the moveRobot function answer, if robot cannot reach the goal after ten times
Results
Conclusions
Almost all the map is explored
Threshold in the frontier length recognition for
avoiding small room and simulation errors (look through the walls.