Exploring Unknown Environments with RRT-Based Strategies

Abstract : Real mobile robots should be able to build an abstract re- presentation of the physical environment, in order to navigate and to work in such environment. We present a method for sensor-based exploration of unknown environments by mobile robots. This method proceeds by building a data structure called SRT (Sensor-based Random Tree). The SRT represents a roadmap of the explored area with an associated safe region, and estimates the free space as perceived by the robot during the exploration. The original work proposed in [10] presents two techniques: SRT-Ball and SRT-Star. In this paper, we propose an alternative strategy called SRT-Radial that deals with non-holonomic constraints using two alternative planners named SRT Extensive and SRT Goal. We present experimental results to show the performance of the SRT-Radial and both derived planners.
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Submitted on : Tuesday, December 11, 2007 - 11:02:58 AM
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Abraham Sánchez Lopez, René Zapata. Exploring Unknown Environments with RRT-Based Strategies. RR-07028, 2007. ⟨lirmm-00195559⟩

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