A safe area search and map building algorithm for a wheeled mobile robot in complex unknown cluttered environments. Issue 1 (10th April 2017)

• Record Type: Journal Article
• Authors: Savkin, Andrey V.; Li, Hang
• Is Part Of: Robotica. Volume 36:Issue 1(2018)
• Page Start: 96
• Page End: 118
• Publication Date: 2017-04-10
• Subjects: Area search, -- Mapping, -- Obstacle avoidance, -- Safe robot navigation, -- Unknown cluttered environments, -- Wheeled mobile robots, -- Robotic search and rescue; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574717000194
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: In this paper, a safe map building and area search algorithm for a mobile robot in a closed unknown environment with obstacles is presented. A range finder sensor is used to detect the environment. The objective is to perform a complete search of the environment and build a complete map of it while avoiding collision with the obstacles. The developed robot navigation algorithm is randomized. It is proved that with probability 1 the robot completes its task in a finite time. Computer simulations and experiments with a real Pioneer-3DX robot confirm the performance of the proposed method.