Internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment

Abstract Navigation in the absence of initial environmental information is a situation in which a robot is faced with the difficulty of traversing an unknown area for exploration with obtaining the environmental information simultaneously. Therefore, to complete and optimize the exploration efficien...

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Autores principales:	Abror Buriboev, Azamjon Muminov, Hyung‐Jun Oh, Jun Dong Lee, Young‐Ae Kwon, Heung Seok Jeon
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2021
Materias:	Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/9e46cac0f5174fbd90ecf9420c9596cf
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spelling	oai:doaj.org-article:9e46cac0f5174fbd90ecf9420c9596cf2021-11-19T05:42:54ZInternal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment1350-911X0013-519410.1049/ell2.12316https://doaj.org/article/9e46cac0f5174fbd90ecf9420c9596cf2021-11-01T00:00:00Zhttps://doi.org/10.1049/ell2.12316https://doaj.org/toc/0013-5194https://doaj.org/toc/1350-911XAbstract Navigation in the absence of initial environmental information is a situation in which a robot is faced with the difficulty of traversing an unknown area for exploration with obtaining the environmental information simultaneously. Therefore, to complete and optimize the exploration efficiently, the robot needs an autonomous path‐planning algorithm. This work proposes a new autonomous path‐planning algorithm for exploration in an unknown environment based on paired frontiers, which we call internal and external frontiers algorithm (IEFA), that defines extended area for navigation of the mobile robot. For each exploration round, the robot defines external frontiers using the maximum range of sensors. Then, the robot generates internal frontiers, that is, pairs of external frontiers by varying the range of sensors. According to the size of each pair of frontiers, the algorithm generates the target point for robot navigation. The frontiers of internal layer are utilized as a main parameter for generation of next exploration point. We evaluated the proposed algorithm in simulation environments using the ROS toolbox of MATLAB and compared it with two previous exploration algorithms. From the experimental results, the proposed algorithm showed from 31% to 85% better performance in the path distance than previous algorithms.Abror BuriboevAzamjon MuminovHyung‐Jun OhJun Dong LeeYoung‐Ae KwonHeung Seok JeonWileyarticleElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENElectronics Letters, Vol 57, Iss 24, Pp 942-944 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Electrical engineering. Electronics. Nuclear engineering TK1-9971 Abror Buriboev Azamjon Muminov Hyung‐Jun Oh Jun Dong Lee Young‐Ae Kwon Heung Seok Jeon Internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment
description	Abstract Navigation in the absence of initial environmental information is a situation in which a robot is faced with the difficulty of traversing an unknown area for exploration with obtaining the environmental information simultaneously. Therefore, to complete and optimize the exploration efficiently, the robot needs an autonomous path‐planning algorithm. This work proposes a new autonomous path‐planning algorithm for exploration in an unknown environment based on paired frontiers, which we call internal and external frontiers algorithm (IEFA), that defines extended area for navigation of the mobile robot. For each exploration round, the robot defines external frontiers using the maximum range of sensors. Then, the robot generates internal frontiers, that is, pairs of external frontiers by varying the range of sensors. According to the size of each pair of frontiers, the algorithm generates the target point for robot navigation. The frontiers of internal layer are utilized as a main parameter for generation of next exploration point. We evaluated the proposed algorithm in simulation environments using the ROS toolbox of MATLAB and compared it with two previous exploration algorithms. From the experimental results, the proposed algorithm showed from 31% to 85% better performance in the path distance than previous algorithms.
format	article
author	Abror Buriboev Azamjon Muminov Hyung‐Jun Oh Jun Dong Lee Young‐Ae Kwon Heung Seok Jeon
author_facet	Abror Buriboev Azamjon Muminov Hyung‐Jun Oh Jun Dong Lee Young‐Ae Kwon Heung Seok Jeon
author_sort	Abror Buriboev
title	Internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment
title_short	Internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment
title_full	Internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment
title_fullStr	Internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment
title_full_unstemmed	Internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment
title_sort	internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment
publisher	Wiley
publishDate	2021
url	https://doaj.org/article/9e46cac0f5174fbd90ecf9420c9596cf
work_keys_str_mv	AT abrorburiboev internalandexternalfrontierbasedalgorithmforautonomousmobilerobotexplorationinunknownenvironment AT azamjonmuminov internalandexternalfrontierbasedalgorithmforautonomousmobilerobotexplorationinunknownenvironment AT hyungjunoh internalandexternalfrontierbasedalgorithmforautonomousmobilerobotexplorationinunknownenvironment AT jundonglee internalandexternalfrontierbasedalgorithmforautonomousmobilerobotexplorationinunknownenvironment AT youngaekwon internalandexternalfrontierbasedalgorithmforautonomousmobilerobotexplorationinunknownenvironment AT heungseokjeon internalandexternalfrontierbasedalgorithmforautonomousmobilerobotexplorationinunknownenvironment
_version_	1718420390561185792

Internal and external frontier‐based algorithm for autonomous mobile robot exploration in unknown environment

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