sichitong / mcdm_online_exploration

Greedy Algorithm for exploration based on next best view

MCDM Online Navigation Framework

In this repo is contained the implementation of an online greedy algorithm for navigation, which combined three ctriteria in a single utility function to establish which is the next best pose to reach. These criteria are the followings:

• Travel distance : distance from the goal
• Information Gain : the amount of new information acquirable from the goal
• Sensing Time : time required for a sensing operation

These criteria are combined using the Choquet Fuzzy Integral as aggregation function, because it allow us to model the sinergy/redundancy relationship existing among them.

Usage

After downloading the repo, you need to run:

$  ./mcdm_online_exploration_ros ./../Maps/map_RiccardoFreiburg_1m2.pgm 100 75 5 0 15 180 1 0 1

where:

• ./mcdm_online_exploration_ros is the executable file
• ./../Maps/map_RiccardoFreiburg_1m2.pgm is the image file you want to use
• 100 meanse we are using the full resolution of the map, without resizing it
• 75 and 5 are the coordinates of the starting position of the robot
• 0 is the initial orientation of the robot
• 15 is the sensor range
• 180 is the maximum scan angle
• 1 means we want the full coverage ( use 0.9X with a lower resolution)
• 0 is the threshold factor to speed up the exploration (us 0.XX for different values)
• 1 means we use cells of one square meter per size during the navigation