基于均匀扫描和专注引导策略的自主探索算法.

To solve the problem of difficulty for robots to quickly explore unknown environments with narrow entrances, as well as the decrease in exploration efficiency caused by wandering between targets with close exploration benefits, this paper proposed a self-exploration algorithm USAGE (uniformly scanning and attentive guidance explorer), which included uniform scanning and attentive guidance strategy. USAGE used the uniform scanning method to detect boundary points, and clustered the boundary points to obtain the points to be explored, and finally determined the optimal exploration target through an attentive guidance strategy. This strategy introduced the steering cost evaluation index into the traditional evaluation function containing information gain and path cost, and constrained the execution of the exploration task according to the robot's state, and guided the robot to focus on exploration. Through building a simulation environment in the robot operating system for verification, the experimental results show that compared with the exploration algorithm based on rapidly-exploring random tree (RRT), USAGE occupies less system memory by more than 11.34%, reduces the exploration time and exploration path level by 26. 90% and 31.94% respectively, which improves autonomous exploration efficiency. [ABSTRACT FROM AUTHOR]