Exploration in Unknown Environment
... Exploration is the act of moving through an unknown environment while building a map that can be used for subsequent navigation , which has the potential to free robots from the inefficiency of navigation in unknown environments. And good exploration strategy is one that generates a complete or nearly complete map in a reasonable amount of time. In this paper, I explain the implementation of exploration on ArSim which is a single mobile robot simulator. Frontier has been used as exploration strategy and both Potential Field and VFH (Vector Field Histogram) as local obstacle avoidance algorithm. ... With this methodology I have defined 3 levels of competence for the exploration robot. ... The second layer ¡°Exploration¡± is to navigate robot in order to retrieve the information from which the global map could be rebuilt. ... 2 Frontier-base Exploration In my implementation, I choose Frontier-Based approach as exploration planner¡¯s algorithm. ... As a result, the mapped territory expands, pushing back the boundary between the known and the unknown. ... In this way, a robot using frontier-based exploration will eventually explore all of the accessible space in the world¡ªassuming perfect sensors and perfect motor control. Figure 2, Frontier Frontier-based exploration has been separated into two stages: 1. ... Each cell is placed into one of three classes: open, unknown and occupied regarding the certain threshold. A process analogous to edge detection and region extraction is used to find the boundaries between open space and unknown space. Any Open cell adjacent to an unknown cell is considered as frontier edge cell. ... 3 Implementation The exploration robot has been implemented on ArSim which is a simple mobile robot simulator developed by C++ . ... 0 as development environment. ... The class ExplorationPlanner adopts the frontier-base exploration algorithm which play a role as a global planner in the robot control system. ... 5 ExplorationPlanner ExplorationPlanner is the implementation of frontier-based approach exploration. ... IsEdgeCell Judge if a cell which is in open space and next to unknown space as well as next to open space. ... 4 Evaluation In the given sample environment 1 as Figure 5 shows, the robot finished exploration in 67. ... Figure 5, Experiment 1 In the given sample environment 2 as Figure 6 shows, the robot finished exploration in 62. ... Sitharama Iyengar, Robot navigation in Unknown Terrains: Introductory Survey of Non-Heuristic Algorithms, Department of Computer Science, Old Dominion University, 1993 2. Brain Yamauchi, A Frontier-Based Approach for Autonomous Exploration, Navy Centre for Applied Research in Artificial Intelligence Naval Research Laboratory, 1997 3.