A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration

Sensors

Jesus S. Cepeda¹  Luiz Chaimowicz²  Rogelio Soto¹  José L. Gordillo¹  Edén A. Alanís-Reyes¹ 

[1] Center for Robotics and Intelligent Systems, Tecnológico de Monterrey, Monterrey 64849, Mexico; E-Mails:;Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, 31270-901, Brazil; E-Mail:

关键词: multi-robot autonomous navigation and exploration;    coordinated behavior;    service-oriented robotics;   

DOI  :  10.3390/s120912772

来源: mdpi

【 摘 要 】

In this paper, we consider the problem of autonomous exploration of unknown environments with single and multiple robots. This is a challenging task, with several potential applications. We propose a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions. This allows robots to safely navigate, disperse and efficiently explore the environment. A series of experiments performed using a realistic robotic simulator and a real testbed scenario demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission in large open spaces, narrow cluttered environments, dead-end corridors, as well as rooms with minimum exits.

【 授权许可】

CC BY   
© 2012 by the authors; licensee MDPI, Basel, Switzerland.