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