With the advent of latest technical advancements in the field of robotics, a stage has arrived where autonomous robots are expected to help humans in tasks that are either dangerous or too monotonous such as mining, search and rescue, floor cleaning. All these problems are derivatives of coverage problem wherein the motto is complete coverage of the environment in a time effective manner. Most of the coverage methods developed till date have access to the map prior to exploration and only few of them made use of multiple robots. In view of the drawbacks of the existing approaches, we developed a frontier based multi robot approach for coverage of unknown environments where map building and exploration is done simultaneously. Individual maps from the robots are merged to form a global map. Frontiers which are the boundaries between explored and unexplored areas are identified and the robots are navigated toward frontiers using the proposed exploration strategy. Robot operating System (ROS) is used for implementation and Stage is used for simulating robots and their environments. Simulation results are obtained for proposed approach and are compared with various existing exploration strategies.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments


    Beteiligte:

    Erscheinungsdatum :

    07.11.2015


    Anmerkungen:

    Electronic Theses and Dissertations


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629





    Coverage Control for Exploration of Unknown Non-convex Environments with Limited Range Multi-robot Systems

    Catellani, Mattia / Pratissoli, Federico / Bertoncelli, Filippo et al. | Springer Verlag | 2024



    Distributed Coverage Control by Robot Networks in Unknown Environments Using a Modified EM Algorithm

    Mohammadhosein Hasanbeig / Lacra Pavel | BASE | 2017

    Freier Zugriff

    Multi-Robot Coordination for Estimation and Coverage of Unknown Spatial Fields

    Benevento A. / Santos M. / Notarstefano G. et al. | BASE | 2020

    Freier Zugriff