0
Technical Brief

A Cooperative Robot Exploration Strategy based on Frontier Methods and Sensor-Based Random Trees

[+] Author and Article Information
Jinho Kim

Department of Mechanical Engineering, University of Maryland, Baltimore County, Baltimore, MD 21250
umbcjhkim@umbc.edu

Stephanie Bonadies

Department of Mechanical Engineering, University of Maryland, Baltimore County, Baltimore, MD 21250
stephanie.bonadies@ngc.com

Charles Eggleton

Professor, Department of Mechanical Engineering, University of Maryland, Baltimore County, Baltimore, MD 21250
eggleton@umbc.edu

S. Andrew Gadsden

Assistant Professor, College of Engineering and Physical Sciences, University of Guelph, Guelph, ON, N1G 2W1, Canada
gadsden@uoguelph.ca

1Corresponding author.

ASME doi:10.1115/1.4041332 History: Received September 23, 2017; Revised August 22, 2018

Abstract

This paper presents a cooperative robot exploration (CRE) strategy that is based on the sensor-based random tree (SRT) star method. The CRE strategy is utilized for a team of mobile robots equipped with range finding sensors. Existing backtracking techniques for frontier-based exploration involve moving back thorough the previous position where the robot has passed before. However, in some cases, the robot generates inefficient detours to move back to the position that contains frontier areas. In an effort to improve upon movement and energy efficiencies, this paper proposes the use of a hub node that has a frontier arc; thereby, the robots backtrack more directly to hub nodes. Furthermore, each robot cooperatively explores the workspace utilizing the data structure from the entire team of robots, which consists of configuration data and frontier data. Comparative simulations of the proposed algorithm and the existing SRT-Star algorithm are implement and described. The experiment is presented to demonstrate the application of the proposed strategy in real-time. Utilizing the proposed algorithm and exploration strategy, the results indicate that a team of robots can work more efficiently by reducing the distance of exploration and the number of node visited.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In