Active SLAM using Model Predictive Control and Attractor based Exploration

摘要

Active SLAM poses the challenge for an autonomous robot to plan efficient paths simultaneous to the SLAM process. The uncertainties of the robot, map and sensor measurements, and the dynamic and motion constraints need to be considered in the planning process. In this paper, the active SLAM problem is formulated as an optimal trajectory planning problem. A novel technique is introduced that utilises an attractor combined with local planning strategies such as model predictive control (a.k.a. receding horizon) to solve this problem. An attractor provides high level task intentions and incorporates global information about the environment for the local planner, thereby eliminating the need for costly global planning with longer horizons. It is demonstrated that trajectory planning with an attractor results in improved performance over systems that have local planning alone