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.
|Title of host publication||IEEE Conference on Control Applications (CCA)|
|Number of pages||6|
|Publication status||Published - Sep 2016|
|Event||2016 IEEE Conference on Control Applications - Buenos Aires, Argentina|
Duration: 19 Sep 2016 → 22 Sep 2016
|Conference||2016 IEEE Conference on Control Applications|
|Period||19/09/16 → 22/09/16|
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- 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
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