Robotic Exploration with Non-Isotropic Sensors

Abstract

In this paper, we present an experimental implementation of an information-based path planning algorithm utilizing a three-wheeled ground robot. The robot is equipped with multiple ultrasonic sensors with which it collects information about objects of interest located within the exploration area. The mission of the robot is to identify the radius of the objects. This problem is challenging as the sensors are non-isotropic, i.e., the sensors have a limited angle of view, and the sensors are range-based, i.e., the amount of information collected by the sensors depends upon the distance from the sensor to the object of interest. The implementation shown relies on interpreting the information gathered as the inverse of uncertainty. Once a specified level of uncertainty reduction is achieved, the object is considered identified. Experimental results for a couple of different objects are provided. The results show close agreement with predicted simulations.