A Mobile Robot Exploration Algorithm

Abstract

This paper will present an algorithm for- path plan. ning to a goal with a mobile robot in an unknown environment. The robot maps the environment only to the extent necessary to achieve the goal. Mapping is achieved using tactile sensing while the robot is executing a path to the specified goal. Paths are generated by treating unknown regions in the environment as free space. As obstacles are encountered en route to a goal, the model of the environment is updated and a new path to the goal is planned and executed. Initially the paths to the goal generated by this algorithm will be negotiable paths. However, as the robot acquires more knowledge about the environment, the length of the planned paths will be optimized. The optimization criteria can be modified to favor or avoid unexplored regions in the environment. The algorithm presented in this paper makes use of the quadtree data structure to model the environment and uses the distance transform methodology to generate paths for the robot to execute. © 1992 IEEE