Abstract
We present a method for sensor-based exploration of unknown environments by mobile robots. This method proceeds by building a data structure called SRT (Sensor-based Random Tree). The SRT represents a roadmap of the explored area with an associated safe region, and estimates the free space as perceived by the robot during the exploration. The original work proposed in [1] presents two techniques: SRT-Ball and SRT-Star. In this paper, we propose an alternative strategy called SRT-Radial that deals with non-holonomic constraints using two alternative planners named SRT_Extensive and SRT_Goal. We present experimental results to show the performance of the SRT-Radial and both planners.
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© 2006 Springer-Verlag Berlin Heidelberg
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Espinoza, J., Sánchez, A., Osorio, M. (2006). Exploring Unknown Environments with Randomized Strategies. In: Gelbukh, A., Reyes-Garcia, C.A. (eds) MICAI 2006: Advances in Artificial Intelligence. MICAI 2006. Lecture Notes in Computer Science(), vol 4293. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11925231_110
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DOI: https://doi.org/10.1007/11925231_110
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-49026-5
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