Abstract
Exploration in unknown environments is a fundamental problem for autonomous robotic systems. The most of the existing exploration algorithms are proposed for indoor environments and aim to minimize the overall exploration time and total travelled distance. In this paper, a modified version of frontier-based exploration approach is presented to decrease exploration time and total distance. This approach introduces two more parameters to the Exploration Transform (ET) algorithm, which evaluates all detected frontiers to select next target point. On the other hand, the proposed approach considers locally observed frontiers, which might be changed with the parameter of dynamic distance. The proposed algorithm is individually tested and compared to ET algorithm with five random starting points in three different environments. Experimental results show that the proposed algorithm provides superior performance over conventional ET algorithm.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Kim, J., Seong, K.J., Kim, H.J.: An efficient backtracking strategy for frontier method in sensor-based random tree. In: 2012 12th International Conference on Control, Automation and Systems. ICC, Jeju Island, Korea, 17–21 October 2012
Amigoni, F., Behnke, S.: Experimental evaluation of some exploration strategies for mobile robots. In: IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 19–23 May 2008
Wirth, S., Pellenz, J.: Exploration transform: a stable exploring algorithm for robots in rescue environments. In: IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2007, Rome, Italy, September 2007
Holz, D., Basilico, N., Amigoni, F., Behnke, S.: A comparative evaluation of exploration strategies and heuristics to improve them. In: Proceedings of European Conference on Mobile Robotics(ECMR), Oerebro, Sweden (2011)
Basilico, N., Amigoni, F.: Exploration strategies based on multi-criteria decision making for searching environments in rescue operations. Auton. Robots 31(4), 401–417 (2011)
AlDahak, A., Seneviratne, L., Dias, J.: Frontier-based exploration for unknown environments using incremental triangulation. In: 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). ICC, Linkoping, Sweden, 21–26 October 2013
Wettach, J., Berns, K.: Combining dynamic frontier based and ground plan based ex-ploration: a hybrid approach. In: 41st International Symposium on Robotics ISR/Robotik 2014, Munich, Germany, 2–3 June 2014
Holz, D., Basilico, N., Amigoni, F., Behnke, S.: Evaluating the efficiency of frontier-based exploration strategies. In: Proceedings of Joint 41th International Symposium on Robotics and 6th German Conference on Robotics, Munich, June 2010
Wettach, J., Berns, K.: Dynamic frontier based exploration with a mobile indoor robot. In: 41st International Symposium on Robotics (ISR), Munich, Germany, 7–9 June 2010
Meger, D., Rekleitis, I., Dudek, G.: Heuristic search planning to reduce exploration uncertainty. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, 22–26 September 2008
Gonzales-Banos, H.H., Latombe, J.-C.: Navigation strategies for exploring indoor environments. Int. J. Robot. Res. 21(10–11), 829–848 (2002)
Yamauchi, B.: A frontier-based approach for autonomous exploration. In: 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Monterey, CA, p. 146, 10–11 June 1997
Zelinsky, A.: Using path transforms to guide the search for findpath in 2D. I. J. Robotic Res. 13(4), 315–325 (1994)
Zelinsky, A.: Environment exploration and path planning algorithms for a mobile robot using sonar. Ph.D. thesis. Wollongong University, Australia (1991)
Acknowledgment
Research is supported by The Scientific and Technological Research Council of Turkey (TUBITAK BILGEM), conducted within the UAVs-Research Lab- project (project number 3920-S513000), which is part of the Avionics and Air Defense Systems research program.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Akagunduz, S., Ozalp, N., Yavuz, S. (2016). Efficiency of Dynamic Local Area Strategy for Frontier-Based Exploration in Indoor Environments. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_31
Download citation
DOI: https://doi.org/10.1007/978-3-319-43506-0_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-43505-3
Online ISBN: 978-3-319-43506-0
eBook Packages: Computer ScienceComputer Science (R0)