A cooperative exploration strategy with efficient backtracking for mobile robots

2017 ◽  
Author(s):  
Jinho Kim ◽  
Stephanie Bonadies ◽  
Andrew Lee ◽  
S. Andrew Gadsden
Keyword(s):  
Mobile Robots ◽  
Exploration Strategy ◽  
Cooperative Exploration

scholarly journals A Multi-Objective Exploration Strategy for Mobile Robots Under Operational Constraints

IEEE Access ◽  
2013 ◽  
Vol 1 ◽  
pp. 691-702 ◽  
Author(s):  
Angelos A. Amanatiadis ◽  
Savvas A. Chatzichristofis ◽  
Konstantinos Charalampous ◽  
Lefteris Doitsidis ◽  
Elias B. Kosmatopoulos ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Multi Objective ◽  
Exploration Strategy ◽  
Operational Constraints

scholarly journals An Autonomous Exploration Strategy for Cooperative Mobile Robots

2014 ◽  
Vol 07 (03) ◽  
pp. 142-149 ◽  
Author(s):  
Mohammad Al Khawaldah ◽  
Mohammad Al-Khedher ◽  
Ibrahim Al-Adwan ◽  
Ayman Al Rawashdeh
Keyword(s):  
Mobile Robots ◽  
Autonomous Exploration ◽  
Exploration Strategy

scholarly journals Local Map-based Exploration Strategy for Mobile Robots

2013 ◽  
Vol 8 (4) ◽  
pp. 256-265 ◽  
Author(s):  
Hyejeong Ryu ◽  
Wan Kyun Chung
Keyword(s):  
Mobile Robots ◽  
Exploration Strategy ◽  
Local Map

Cooperative Robot Exploration Strategy Using an Efficient Backtracking Method for Multiple Robots

2018 ◽  
Vol 10 (6) ◽  
Author(s):  
Jinho Kim ◽  
Stephanie Bonadies ◽  
Charles D. Eggleton ◽  
S. Andrew Gadsden
Keyword(s):  
Data Structure ◽  
Mobile Robots ◽  
Objective Function ◽  
Real Time ◽  
Random Tree ◽  
Multiple Robots ◽  
Range Finding ◽  
Exploration Strategy ◽  
Configuration Data

This paper presents a cooperative robot exploration (CRE) strategy that is based on the sensor-based random tree (SRT) star method. The CRE strategy is utilized for a team of mobile robots equipped with range finding sensors. Existing backtracking techniques for frontier-based (FB) exploration involve moving back thorough the previous position where the robot has passed before. However, in some cases, the robot generates inefficient detours to move back to the position that contains frontier areas. In an effort to improve upon movement and energy efficiencies, this paper proposes the use of a hub node that has a frontier arc; thereby, the robots backtrack more directly to hub nodes by using the objective function. Furthermore, each robot cooperatively explores the workspace utilizing the data structure from the entire team of robots, which consists of configuration data and frontier data. Comparative simulations of the proposed algorithm and the existing SRT-star algorithm are implemented and described. The experiment is presented to demonstrate the application of the proposed strategy in real-time. Utilizing the proposed algorithm and exploration strategy, the results indicate that a team of robots can work more efficiently by reducing the distance of exploration and the number of node visited.

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