抄録
Simultaneous localization and mapping (SLAM) is one of important topics in robotics. However, we must consider various intelligent behaviors in SLAM, e.g., the exploration of unknown areas and effective path planning of mobile robots. To realize these intelligent behaviors, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. In this paper, the next aim is to represent the unknown areas in the built map. Therefore, we propose the exploration method using multi-resolution map in unknown area. The exploration method is based on k-certainty exploration. The experimental results show the effectiveness of the proposed method.
