Wall-following exploration with two cooperating mobile robots

Authors:
Mohammad Al Khawaldah;Salvatore Livatino;Lily Ming
Affiliations:
School of Engineering and Technology, University of Hertfordshire, Hatfield, UK;School of Engineering and Technology, University of Hertfordshire, Hatfield, UK;School of Engineering and Technology, University of Hertfordshire, Hatfield, UK
Venue:
ISPRA'10 Proceedings of the 9th WSEAS international conference on Signal processing, robotics and automation
Year:
2010

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Abstract

In this paper a new exploration algorithm using two cooperating robots is introduced. The new technique is a combination of wall-following exploration algorithm and frontier-based exploration algorithm. The aim is to decrease the exploration time and energy consumption. The proposed algorithm is divided into two stages: Firstly, one of the robots follows (detects) the entire of the environment walls. And secondly, they employ frontier-based algorithm to complete exploring the remained unexplored areas. During these two stages, the robots sweep the line-of-sight between them in each step to maximize the exploration efficiency.