Mobile robot navigation in unknown environment based on exploration principles

Ioannis Arvanitakis, Konstantinos Giannousakis, Anthony Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

    15 Citations (Scopus)
    203 Downloads (Pure)

    Abstract

    This article focuses on the mobile robot's autonomous navigation problem in an unknown environment. Considering a robot equipped with an omnidirectional range-sensor a map of the discovered area is constructed in an iterative manner. Given a target position located in the unexplored territory, initially a motion planning scheme is employed that relies on exploration-principles of the area near the target. This is achieved by assigning an exploration cost function that indirectly attracts the robot close to target. Upon discovery of the target, the robot moves to it following the shortest-distance path. Simulation studies that prove the efficiency of the overall method are presented.
    Original languageEnglish
    Title of host publicationIEEE Conference on Control Applications (CCA)
    PublisherIEEE
    Pages493-498
    Number of pages6
    ISBN (Electronic)978-1-5090-0755-4
    ISBN (Print)978-1-5090-0756-1
    DOIs
    Publication statusPublished - Sept 2016
    Event2016 IEEE Conference on Control Applications - Buenos Aires, Argentina
    Duration: 19 Sept 201622 Sept 2016

    Conference

    Conference2016 IEEE Conference on Control Applications
    Abbreviated titleCCA
    Country/TerritoryArgentina
    CityBuenos Aires
    Period19/09/1622/09/16

    Bibliographical note

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    Keywords

    • Mobile robot navigation ,
    • Unknown environment
    • Exploration principles
    • Mobile robot autonomous navigation problem
    • Omnidirectional range-sensor
    • Discovered area map
    • Target tracking
    • Motion planning scheme
    • Exploration cost function
    • Shortest-distance path following

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