An algorithm for sensory area coverage by mobile robots operating in complex arenas

Abstract

In this paper, a novel algorithm for sensory area coverage by mobile robots is proposed, with applications in, for example, mapping and exploration. The algorithm generates a sequence of nodes for the robot to visit, such that it covers as much as possible of the arena using a laser range finder. A crucial part of the exploration behavior implementing this algorithm is a deadlock avoidance procedure, which allows the robot to handle the inevitable problems (such as coping with narrow passages and obstacles of different size and height) that occur when navigating in complex arenas. Despite the simplicity of the algorithm, the robot is generally able to cover (with its laser range finder) 98% or more of an initially unexplored arena. © 2009 Springer.