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    An Autonomous Exploration Strategy for Cooperative Mobile Robots

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    Date
    2014-03-07
    Type
    Article
    Author
    Al Khawaldah, Mohammad
    Al-Khedher, Mohammad
    Al-Adwan, Ibrahim
    Al Rawashdeh, Ayman
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    Abstract
    Frontier-based exploration methods are efficient for multi-robot exploration systems. In this pa- per, enhanced frontier-based techniques are used with team of cooperating mobile robots to ex- plore unknown environment. The aim of the exploration algorithm is to minimize the exploration time by coordinating the robots to maximize overall utility by minimizing the potential of over- lapping in information gained amongst the robots. The proposed frontier-based exploration algo- rithm is based on a new bidding function to decrease the overlap between the robots in addition to the utility and cost parameters. A special parameter depends on the future positions of the robots is also considered. The proposed algorithm has been tested with different environments. We also compared it to A* algorithm. Comparisons demonstrated the efficiency of proposed algorithm.
    URI
    https://dspace.adu.ac.ae/handle/1/662
    DOI
    https://doi.org/10.4236/jsea.2014.73016
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    • Mechanical Engineering

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