EXPLORATION METHOD IMPROVEMENTS OF AUTONOMOUS ROBOT FOR A 2-D ENVIRONMENT NAVIGATION

Authors

Nien-Yu Chen, Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei City, Taiwan, R.O.C.Follow
Jinsiang Shaw, Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei City, Taiwan, R.O.C.
Hsien-I Lin, Institute of Automation Technology, National Taipei University of Technology, Taipei City, Taiwan, R.O.C.

Abstract

This paper presents a method for integrating different algorithms for building an autonomous robot. The developed robot has the ability to construct the 2-D map of an unknown environment, localize itself in the map, explore undiscovered area, and path finding. In order to efficiently explore a map, we propose an exploration method. Additionally, improvements of conventional A* algorithm are proposed. Experimental results show that the developed robot is capable of navigating an unknown indoor environment with random obstacles.

Recommended Citation

Chen, Nien-Yu; Shaw, Jinsiang; and Lin, Hsien-I (2017) "EXPLORATION METHOD IMPROVEMENTS OF AUTONOMOUS ROBOT FOR A 2-D ENVIRONMENT NAVIGATION," Journal of Marine Science and Technology: Vol. 25: Iss. 1, Article 4.
DOI: 10.6119/JMST-016-0719-1
Available at: https://jmstt.ntou.edu.tw/journal/vol25/iss1/4