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)


    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)
    Number of pages6
    ISBN (Electronic)978-1-5090-0755-4
    ISBN (Print)978-1-5090-0756-1
    Publication statusPublished - Sept 2016
    Event2016 IEEE Conference on Control Applications - Buenos Aires, Argentina
    Duration: 19 Sept 201622 Sept 2016


    Conference2016 IEEE Conference on Control Applications
    Abbreviated titleCCA
    CityBuenos Aires

    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.


    • 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


    Dive into the research topics of 'Mobile robot navigation in unknown environment based on exploration principles'. Together they form a unique fingerprint.

    Cite this