Mobile robot navigation in unknown environment based on exploration principles

Ioannis Arvanitakis; Konstantinos Giannousakis; Anthony Tzes

doi:10.1109/CCA.2016.7587878

Mobile robot navigation in unknown environment based on exploration principles

Ioannis Arvanitakis, Konstantinos Giannousakis, Anthony Tzes

University of Patras

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

15 Citations (Scopus)

251 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 language	English
Title of host publication	IEEE Conference on Control Applications (CCA)
Publisher	IEEE
Pages	493-498
Number of pages	6
ISBN (Electronic)	978-1-5090-0755-4
ISBN (Print)	978-1-5090-0756-1
DOIs	https://doi.org/10.1109/CCA.2016.7587878
Publication status	Published - Sept 2016
Event	2016 IEEE Conference on Control Applications - Buenos Aires, Argentina Duration: 19 Sept 2016 → 22 Sept 2016

Conference

Conference	2016 IEEE Conference on Control Applications
Abbreviated title	CCA
Country/Territory	Argentina
City	Buenos Aires
Period	19/09/16 → 22/09/16

Bibliographical note

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Copyright © and Moral Rights are retained by the author(s) and/ or other copyright owners. A copy can be downloaded for personal non-commercial research or study, without prior permission or charge. This item cannot be reproduced or quoted extensively from without first obtaining permission in writing from the copyright holder(s). The content must not be changed in any way or sold commercially in any format or medium without the formal permission of the copyright holders.

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

Access to Document

10.1109/CCA.2016.7587878

Post-PrintAccepted author manuscript, 702 KBLicence: CC BY

Cite this

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title = "Mobile robot navigation in unknown environment based on exploration principles",

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.",

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author = "Ioannis Arvanitakis and Konstantinos Giannousakis and Anthony Tzes",

note = "{\textcopyright} 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Copyright {\textcopyright} and Moral Rights are retained by the author(s) and/ or other copyright owners. A copy can be downloaded for personal non-commercial research or study, without prior permission or charge. This item cannot be reproduced or quoted extensively from without first obtaining permission in writing from the copyright holder(s). The content must not be changed in any way or sold commercially in any format or medium without the formal permission of the copyright holders. ; 2016 IEEE Conference on Control Applications , CCA ; Conference date: 19-09-2016 Through 22-09-2016",

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AU - Tzes, Anthony

N1 - © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Copyright © and Moral Rights are retained by the author(s) and/ or other copyright owners. A copy can be downloaded for personal non-commercial research or study, without prior permission or charge. This item cannot be reproduced or quoted extensively from without first obtaining permission in writing from the copyright holder(s). The content must not be changed in any way or sold commercially in any format or medium without the formal permission of the copyright holders.

PY - 2016/9

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N2 - 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.

AB - 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.

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KW - Unknown environment

KW - Exploration principles

KW - Mobile robot autonomous navigation problem

KW - Omnidirectional range-sensor

KW - Discovered area map

KW - Target tracking

KW - Motion planning scheme

KW - Exploration cost function

KW - Shortest-distance path following

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M3 - Conference proceeding

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EP - 498

BT - IEEE Conference on Control Applications (CCA)

PB - IEEE

T2 - 2016 IEEE Conference on Control Applications

Y2 - 19 September 2016 through 22 September 2016

ER -

Mobile robot navigation in unknown environment based on exploration principles

Abstract

Conference

Bibliographical note

Keywords

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Cite this