Exploration of Unknown Map for Safety Purposes using Wheeled Mobile Robots

Sara Ashry Mohammed, Walid Gomaa

2017

Abstract

Exploring unknown 2-D grid map using multi-robots has a great significance in a vast domain of applications. One possible application is to search for a gas leakage or a fire source which we address in this paper. We propose an algorithm called Zigzag Ray for multi-robot exploration. The aim is to reduce the required time to discover the environment as much as possible to suit the critical applications such as rescue operations. Experiments are done using two, three, and four Khepera robots for exploring a map. The exploration time without the boundary scan offset is ranged from 28.4% to 17.2% of the time taken by Albers algorithm and from 41.2% to 30.7% of the time taken by the Zigzag algorithm for a single robot. Also, the time of four robots by using a Zigzag algorithm for multi-robots is about 46% of Albers time of four robots. A disparity in time existing between the algorithms shows the effectiveness of the new proposed algorithm. Additionally, the Zigzag algorithm of a single robot is compared with the heuristic SRT algorithm. Zigzag time takes about 54.5% to 77.4% from heuristic SRT time. The evaluation is done using the Exploration Index strategy.

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Paper Citation


in Harvard Style

Mohammed S. and Gomaa W. (2017). Exploration of Unknown Map for Safety Purposes using Wheeled Mobile Robots . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 359-367. DOI: 10.5220/0006430903590367


in Bibtex Style

@conference{icinco17,
author={Sara Ashry Mohammed and Walid Gomaa},
title={Exploration of Unknown Map for Safety Purposes using Wheeled Mobile Robots},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={359-367},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006430903590367},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Exploration of Unknown Map for Safety Purposes using Wheeled Mobile Robots
SN - 978-989-758-264-6
AU - Mohammed S.
AU - Gomaa W.
PY - 2017
SP - 359
EP - 367
DO - 10.5220/0006430903590367