- Conference date: 6–8 August 2012
- Location: Las Vegas, Nevada, USA
Exploration of an unknown environment by autonomous mobile robot is a fundamental concern in mobile robotics. Today most of the mobile robots are powered by batteries so their energy and operation times are limited. Therefore, how to minimize energy consumption and obstacle avoidance becomes an important problem. Frontier-based method is known to be most efficient for robot exploration system. In this paper, we propose a novel energy efficient platform based on the notion of frontiers for mobile robot. The robot selects the next frontier to visit based on the robot's current direction and relative location of frontier cells. Our frontier selection method can reduce duplicate coverage and thus save energy and reduce the distance also. Distance to frontier are computed using energy efficient A* algorithm. We estimate the energy consumption and choose the most energy-efficient route to move to that frontier considering energy of stop and turnings. We tested the algorithm on various types of environment maps. The experiments were conducted assuming equal velocity for the robot during whole exploration. All paths generated were optimal in terms of energy consumption and turns. The robot was easily able to escape a variety of obstacles and reach the goal in an optimal manner.
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