Abstract
Here we present an algorithm for exploration of an unknown indoor environment for mobile ground robots. Due to the combination of local and global navigation strategies this algorithm is robust in relation to dead end floors. We present an AFA (Artificial Force Approach), based on the APF (Artificial Potential Fields) method. A combination of AFA and the A*-algorithm leads to a robust and reasonable exploration algorithm of indoor environments based on an orthogonal SLAM (Simultaneous Localisation And Mapping) algorithm.
All methods and approaches of this paper are validated by simulation and real time experiments with a ground robot named Scorpion.
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Alpen, M., Stuedemann, S., Horn, J. (2010). Time Efficient Strategy to Explore Unknown Indoor Environments by Mobile Ground Robots. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_20
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DOI: https://doi.org/10.1007/978-3-642-16587-0_20
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