Exploration strategy related design considerations of WSN-Aided mobile robot exploration teams

Authors:
Gurkan Tuna;Kayhan Gulez;Vehbi Cagri Gungor;Tarik Veli Mumcu
Affiliations:
Vocational College of Technical Sciences, Department of Computer Programming, Trakya University, Edirne, Turkey;Electrical-Electronics Eng. Faculty, Control and Automation Eng. Dept., Yildiz Technical University, Istanbul, Turkey;Faculty of Engineering, Department of Computer Engineering, Bahcesehir University, Istanbul, Turkey;Electrical-Electronics Eng. Faculty, Control and Automation Eng. Dept., Yildiz Technical University, Istanbul, Turkey
Venue:
ICIC'11 Proceedings of the 7th international conference on Advanced Intelligent Computing Theories and Applications: with aspects of artificial intelligence
Year:
2011

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Abstract

This paper presents a novel approach to mobile robot exploration. In this approach, mobile robots send their local maps to the central controller and coordinate with each other using a wireless sensor network (WSN). Different from existing rendezvous point-based exploration strategies, the use of a WSN as the communication media allows quick and cost-effective exploration and mapping of an unknown environment. Overall, this paper introduces WSN-aided mobile robot exploration strategy and shows comparative performance evaluations using the Player/Stage simulation platform. Here, our main goal is to present potential advantages of WSN-aided mobile robot exploration for Simultaneous Localization and Mapping (SLAM).