基于SLAM的机器人安全探索策略，避免碰撞并高效覆盖未知空间。
SLAM-based Safe Indoor Exploration Strategy
- 采用双轮差速移动平台，结合IMU、LiDAR与深度相机实现定位
- 通过安全骨架法保持与障碍物最远距离，优先保障避障安全
- 在ROS系统中验证，适用于复杂室内环境的自主探索任务
本文提出一种适用于平面障碍物密集环境的二维探索策略。针对传统圆形轮廓移动体无法瞬时调整位姿的问题，采用自平衡双轮差速驱动系统，集成线性加速度计、角速率陀螺仪、3D-LiDAR及前向RGB-D相机。系统利用IMU与LiDAR进行RTAB-SLAM建图，相机用于回环检测。探索过程中，移动体依据安全骨架法尽可能远离静态障碍物，并朝向空间中任意开放区域前进。该策略以避障安全为最高优先级，其次为未探测区域的覆盖。实验在基于ROS的移动平台上开展，验证了路径规划的有效性。
原文摘要 · Abstract (English)
This paper suggests a 2D exploration strategy for a planar space cluttered with obstacles. Rather than using point robots capable of adjusting their position and altitude instantly, this research is tailored to classical agents with circular footprints that cannot control instantly their pose. Inhere, a self-balanced dual-wheeled differential drive system is used to explore the place. The system is equipped with linear accelerometers and angular gyroscopes, a 3D-LiDAR, and a forward-facing RGB-D camera. The system performs RTAB-SLAM using the IMU and the LiDAR, while the camera is used for loop closures. The mobile agent explores the planar space using a safe skeleton approach that places the agent as far as possible from the static obstacles. During the exploration strategy, the heading is towards any offered openings of the space. This space exploration strategy has as its highest priority the agent's safety in avoiding the obstacles followed by the exploration of undetected space. Experimental studies with a ROS-enabled mobile agent are presented indicating the path planning strategy while exploring the space.
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