A General-Purpose Method for Decision-Making in Autonomous Robots
IEA/AIE '09 Proceedings of the 22nd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems: Next-Generation Applied Intelligence
Exploring unknown environments with mobile robots using coverage maps
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
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In this paper, a novel algorithm for sensory area coverage by mobile robots is proposed, with applications in, for example, mapping and exploration. The algorithm generates a sequence of nodes for the robot to visit, such that it covers as much as possible of the arena using a laser range finder. A crucial part of the exploration behavior implementing this algorithm is a deadlock avoidance procedure, which allows the robot to handle the inevitable problems (such as coping with narrow passages and obstacles of different size and height) that occur when navigating in complex arenas. Despite the simplicity of the algorithm, the robot is generally able to cover (with its laser range finder) 98% or more of an initially unexplored arena.