To work in unknown outdoor environments, autonomous sampling machines need the ability to target samples despite limited visibility and robotic arm reach distance. We design a heuristic guided search method to speed up the search process and more efficiently localize the approximate center of soil regions. Through simulation experiments, we assess the effectiveness of the proposed algorithm and discover superior performance in terms of speed, distance traveled, and success rate compared to naive baselines. We also verified that the proposed algorithm outperforms patterns used in search and rescue missions.
Published in: 2025 IEEE/SICE International Symposium on System Integration (SII)
DOI: 10.1109/SII59315.2025.10871108