A novel approach for coordinated multi-robot exploration
| Autor: | Abdenour Benkrid, Noura Achour |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Engineering business.industry Rank (computer programming) Control engineering 02 engineering and technology Energy consumption Exploration problem Term (time) 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Limit (mathematics) business Energy (signal processing) |
| Zdroj: | 2017 6th International Conference on Systems and Control (ICSC). |
| DOI: | 10.1109/icosc.2017.7958683 |
| Popis: | This paper addresses the multi-robot exploration problem in unknown environments. The proposed method aims to minimize the exploration time considering the robot's limited energy. The target area is defined as a frontier which represents the limit between an unknown and explored part of the environment. Thus, each robot from the team is assigned to the frontier for which it has the lowest rank among the other robots in term of energy consumption. An implementation and tests in computerized simulation as well as a comparison with some existing approaches has been performed. The results obtained demonstrate the validity and the efficiency of our method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|