Thesis
Information-based multi-robot navigation, exploration, and coverage using adaptive occupancy grids
Washington State University
Master of Science (MS), Washington State University
05/2018
DOI:
https://doi.org/10.7273/000004024
Handle:
https://hdl.handle.net/2376/125203
Abstract
This thesis examines the control of an information-based multi-robot system (MRS). We demonstrate a simulated MRS exploration-coverage mission as the system converges to regions of high entropy (uncertainty), as it maximizes information content. Furthermore, the MRS mission utilizes an information-based adaptive occupancy grid which adaptively discretizes the grid so that map memory size is substantially reduced without sacrificing substantial map information content. We present a theoretical bounds on the information loss in the adaptive grid, while also demonstrating its ability to adaptively map an environment so that only high-entropy regions are finely discretized. Results indicate that the system can effectively explore an environment, converge to regions of high entropy, and further probe these regions to reduce the associated entropy (i.e. obtain more information), while utilizing a map that uses a fraction of the memory requirements but containing a comparable level of information. The novel contributions of this work include the development of an information-based adaptive grid and the leveraging of MRS control laws with an entropy-based world to control an MRS towards regions of interest.
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Details
- Title
- Information-based multi-robot navigation, exploration, and coverage using adaptive occupancy grids
- Creators
- Mitchell Dale Scott
- Contributors
- Kshitij Jerath (Advisor)
- Awarding Institution
- Washington State University
- Academic Unit
- School of Mechanical and Materials Engineering
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Publisher
- Washington State University
- Identifiers
- 99900890795601842
- Language
- English
- Resource Type
- Thesis