?url_ver=Z39.88-2004&rft_id=TR2018-FIT-16&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.relation=https%3A%2F%2Feprints.uet.vnu.edu.vn%2Feprints%2Fid%2Feprint%2F3195%2F&rft.title=Depth+camera+based+navigation+algorithms+for+indoor+mobile+robot&rft.creator=Tran%2C+Van+Lien&rft.creator=Nguyen%2C+Viet+Thang&rft.creator=Quach%2C+Cong+Hoang&rft.creator=Phan%2C+Xuan+Hieu&rft.creator=Pham%2C+Minh+Trien&rft.subject=Information+Technology+(IT)&rft.description=How+can+we+efficiently+search+an+object+in+a+room%3F+This+report+introduces+a+method+for+a+single+indoor+mobile+robot+to+find+a+hidden+item+based+on+states+of+the+room+when+the+robot+is+moving.+A+2D+distribution%2C+called+cognitive+map%2C+is+built+during+robot+movements+to+boost+the+exploring+time.+It+is+known+that+in+the+filed+of+exploring+algorithms%2C+A%E2%88%97+usually+takes+more+time+to+reach+the+target+than+recent+invented+algorithms+such+as+rapidly-exploring+random+trees+(RRT)+and+probabilistic+roadmap+(PRM).+However%2C+by+adapting+the+cognitive+map+as+a+cost+map%2C+the+A%E2%88%97+algorithm+is+significantly+improved+and+surpasses+the+two+algorithms+in+Scannet+3D+dataset.+We+also+introduce+application+of+depth+sensors+and+SLAM+solvers+on+reconstructing+the+room+and+updating+cognitive+map.+By+running+a+virtual+robot+in+Gazebo+simulator%2C+it+is+proved+that+our+method+can+work+well+on+synthetic+environment+and+hence%2C+is+very+promising+to+be+worked+on+real-life+environment.&rft.publisher=VNU-UET&rft.date=2018-12&rft.type=Technical+Report&rft.type=NonPeerReviewed&rft.format=application%2Fpdf&rft.language=en&rft.identifier=https%3A%2F%2Feprints.uet.vnu.edu.vn%2Feprints%2Fid%2Feprint%2F3195%2F1%2FFIT-TR2018-TranVanLien-PhanXuanHieu.pdf&rft.identifier=++Tran%2C+Van+Lien+and+Nguyen%2C+Viet+Thang+and+Quach%2C+Cong+Hoang+and+Phan%2C+Xuan+Hieu+and+Pham%2C+Minh+Trien++(2018)+Depth+camera+based+navigation+algorithms+for+indoor+mobile+robot.++Technical+Report.+VNU-UET.+++++&rft.relation=TR2018-FIT-16