TY - GEN
T1 - Mobile robot navigation in unknown environment based on exploration principles
AU - Arvanitakis, Ioannis
AU - Giannousakis, Konstantinos
AU - Tzes, Anthony
N1 - Funding Information:
This work has received funding from the European Union Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128, AEROWORKS.
Publisher Copyright:
© 2016 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.
PY - 2016/10/10
Y1 - 2016/10/10
N2 - This article focuses on the mobile robot's autonomous navigation problem in an unknown environment. Considering a robot equipped with an omnidirectional rangesensor a map of the discovered area is constructed in an iterative manner. Given a target position located in the unexplored territory, initially a motion planning scheme is employed that relies on exploration-principles of the area near the target. This is achieved by assigning an exploration cost function that indirectly attracts the robot close to target. Upon discovery of the target, the robot moves to it following the shortest-distance path. Simulation studies that prove the efficiency of the overall method are presented.
AB - This article focuses on the mobile robot's autonomous navigation problem in an unknown environment. Considering a robot equipped with an omnidirectional rangesensor a map of the discovered area is constructed in an iterative manner. Given a target position located in the unexplored territory, initially a motion planning scheme is employed that relies on exploration-principles of the area near the target. This is achieved by assigning an exploration cost function that indirectly attracts the robot close to target. Upon discovery of the target, the robot moves to it following the shortest-distance path. Simulation studies that prove the efficiency of the overall method are presented.
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U2 - 10.1109/CCA.2016.7587878
DO - 10.1109/CCA.2016.7587878
M3 - Conference contribution
AN - SCOPUS:85044854362
T3 - 2016 IEEE Conference on Control Applications, CCA 2016
SP - 493
EP - 498
BT - 2016 IEEE Conference on Control Applications, CCA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE Conference on Control Applications, CCA 2016
Y2 - 19 September 2016 through 22 September 2016
ER -