Simultaneous exploration and coverage by a mobile robot

P. M. Mohammad Minhaz Falaki, Akshar Padman, Vishnu G. Nair, K. R. Guruprasad

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a problem of simultaneous exploration and coverage for a mobile robot, combining the problems of area coverage with exploration and mapping. The primary task here is to completely cover an initially unknown region. Here we combine the advantages of online and off-line coverage path planning algorithms by using the exploration as an aid. The robots perform intermittent exploration during coverage in order to update the map of the environment, which in turn is used to generate the coverage path. We illustrate and demonstrate the problem using the off-line version of Spanning Tree Coverage algorithm with a frontier-based exploration strategy. The simulation results demonstrate that the robot successfully achieves complete and non-repetitive coverage.

Original languageEnglish
Title of host publicationControl Instrumentation Systems - Proceedings of CISCON 2018
EditorsC. Shreesha, Ravindra D. Gudi
PublisherSpringer Verlag
Pages33-41
Number of pages9
ISBN (Print)9789811394188
DOIs
Publication statusPublished - 01-01-2020
Event15th Control Instrumentation Systems Conference, CISCON 2018 - Manipal, India
Duration: 26-10-201827-10-2018

Publication series

NameLecture Notes in Electrical Engineering
Volume581
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference15th Control Instrumentation Systems Conference, CISCON 2018
CountryIndia
CityManipal
Period26-10-1827-10-18

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All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

Mohammad Minhaz Falaki, P. M., Padman, A., Nair, V. G., & Guruprasad, K. R. (2020). Simultaneous exploration and coverage by a mobile robot. In C. Shreesha, & R. D. Gudi (Eds.), Control Instrumentation Systems - Proceedings of CISCON 2018 (pp. 33-41). (Lecture Notes in Electrical Engineering; Vol. 581). Springer Verlag. https://doi.org/10.1007/978-981-13-9419-5_3