A Path Planning Method of Mobile Robots for Unknown Environment Exploration
Kazuhiro Abe, Masayoshi Kakikura · IEEJ Transactions on Electronics Information and Systems · 1999
It is predicted that the demands of robots in home increase in the future. The behavior of the robots must be changed by the structure of houses or the arrangement of furnitures there. Therefore, the robots will face with the unknown environments necessarily. In these situation, the cooperation tasks by plural robots is necessary when we consider the various kind of works and its efficiencies. In this paper, we consider about a cooperation task of robots in unknown environment. We take the problem of unknown environment exploration by mobile robots as an example here. The aim of this problem lets mobile robots explore unknown environment and make the map. There are two important points, the efficiency of work and independence on environment, to raise here. We propose algorithm for path planning and collision avoidance between mobile robots in order to form an action pattern to meet these conditions. In case for forming an action pattern using these algorithms, we use Genetic Programming (GP). Finary, we let mobile robots explore 5 unknown environments in the simulation with an action pattern established in this way.