loading
Documents

Research.Publish.Connect.

Paper

Authors: Sara Ashry Mohammed 1 and Walid Gomaa 2

Affiliations: 1 Egypt-Japan University of Science and Technology (E-JUST) and Electronic Research Institute (ERI), Egypt ; 2 Egypt-Japan University of Science and Technology (E-JUST) and Alexandria University, Egypt

ISBN: 978-989-758-264-6

Keyword(s): Mobile Robots, Explore Unknown Map using Multi-robot, Rectilinear Obstacles, Gas and Fire Detection, V-REP, Khepera III, Albers Algorithm, Zigzag Algorithm, Heuristic Backtracking SRT Algorithm.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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 r obot 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. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.211.135.32

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.