| Autor: |
José L. Gordillo, Luis C. Carrillo-Arce, Edén A. Alanís-Reyes, Rogelio Soto, Luiz Chaimowicz, Jesús S. Cepeda |
| Jazyk: |
angličtina |
| Rok vydání: |
2012 |
| Předmět: |
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| Zdroj: |
Sensors, Vol 12, Iss 9, Pp 12772-12797 (2012) |
| Druh dokumentu: |
article |
| ISSN: |
1424-8220 |
| DOI: |
10.3390/s120912772 |
| Popis: |
In this paper, we consider the problem of autonomous exploration of unknown environments with single and multiple robots. This is a challenging task, with several potential applications. We propose a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions. This allows robots to safely navigate, disperse and efficiently explore the environment. A series of experiments performed using a realistic robotic simulator and a real testbed scenario demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission in large open spaces, narrow cluttered environments, dead-end corridors, as well as rooms with minimum exits. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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