Multi-Robot Complete Exploration using Hill Climbing and Topological Recovery

Rui Rocha, Filipe Ferreira, Jorge Dias

In Proc. of IEEE/RSJ 2008 Int. Conf. on Intelligent Robots and Systems (IROS’2008)
Nice, France, pages 1884-1889, Sep. 22-26, 2008.

Abstract

This article addresses the problem of autonomous map building and exploration of an unknown environment with mobile robots. The proposed method assumes that mobile robots use occupancy grid maps as the main representation model for the built maps and a hill climbing local search algorithm for exploring the environment without any kind of human intervention. It is demonstrated that hill climbing based exploration may recover from local minima and cover completely any environment, if a topological representation of the environment is created incrementally along the mapping and exploration mission. The approach is devised for either a single mobile robot or multiple cooperative mobile robots.

Index Terms — Autonomous exploration, map building, multi-robot systems, occupancy grids, topological maps.

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BibTeX

@INPROCEEDINGS(Rocha_et_al_08,

AUTHOR = "Rocha, R. and Ferreira, F. and Dias, J.",

TITLE = "Multi-Robot Complete Exploration using Hill Climbing and Topological Recovery",

BOOKTITLE = "Proc. of 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2008)",

ADDRESS = "Nice, France",

YEAR = "2008",

MONTH = "Sep.",

PAGES = "1884-1889"

)

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Last update: 24/09/2008