Mobile robot navigation in unknown environment based on exploration principles

Ioannis Arvanitakis, Konstantinos Giannousakis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

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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 - Sep 2016
Event2016 IEEE Conference on Control Applications - Buenos Aires, Argentina
Duration: 19 Sep 201622 Sep 2016

Conference

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

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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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  • Cite this

    Arvanitakis, I., Giannousakis, K., & Tzes, A. (2016). Mobile robot navigation in unknown environment based on exploration principles. In IEEE Conference on Control Applications (CCA) (pp. 493-498). IEEE. https://doi.org/10.1109/CCA.2016.7587878