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Finding objects with segmentation strategy based multi robot exploration in unknown environment


Arezoumand, Reza and Mashohor, Syamsiah and Marhaban, Mohammad Hamiruce (2013) Finding objects with segmentation strategy based multi robot exploration in unknown environment. Procedia - Social and Behavioral Sciences, 97. pp. 580-586. ISSN 1877-0428

Abstract / Synopsis

In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investigated in this paper one is frontier based random search algorithm and the second is efficient algorithm based on segmentation strategy. To improve efficiency, each robot had to go to different regions to avoid cumulating robots in one region. Constructed maps for all four regions could be shared and navigation could be done more effectively. For constructing map robot can use on built range finder sensor or using vision based systems. Also the algorithm using segmentation strategy is using frontier base algorithm for exploring divided area. Both algorithm implemented and analyzed in Player/Stage simulation. The result was compared and showed the efficiency of the designed algorithm based segmentation strategy. In simulation this algorithm is tested with different number of robots to achieve better view of efficiency for proposed algorithm in different type of environment like harsh environment as possibility of losing some robots.

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Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
Institute of Advanced Technology
DOI Number:
Publisher: Elsevier
Keywords: Multi-robot exploration; Flocking; Exploration ratio; Trajectory prediction
Depositing User: Nabilah Mustapa
Date Deposited: 04 Aug 2016 08:33
Last Modified: 04 Aug 2016 08:33
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