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Goal Seeking for Robots in Unknown Environments

Jisha, VR and Ghose, Debasish (2010) Goal Seeking for Robots in Unknown Environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, OCT 18-22, 2010 , Taipei, TAIWAN, pp. 4692-4697.

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Abstract

We consider the problem of goal seeking by robots in unknown environments. We present a frontier based algorithm for finding a route to a goal in a fully unknown environment, where information about the goal region (GR), the region where the goal is most likely to be located, is available. Our algorithm efficiently chooses the best candidate frontier cell, which is on the boundary between explored space and unexplored space, having the maximum ``goal seeking index'', to reach the goal in minimal number of moves. Modification of the algorithm is also proposed to further reduce the number of moves toward the goal. The algorithm has been tested extensively in simulation runs and results demonstrate that the algorithm effectively directs the robot to the goal and completes the search task in minimal number of moves in bounded as well as unbounded environments. The algorithm is shown to perform as well as a state of the art agent centered search algorithm RTAA*, in cluttered environments if exact location of the goal is known at the beginning of the mission and is shown to perform better in uncluttered environments.

Item Type: Conference Paper
Additional Information: Copyright 2010 IEEE. Personal use of this material is permitted.However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Others
Date Deposited: 08 Apr 2011 05:16
Last Modified: 08 Apr 2011 05:16
URI: http://eprints.iisc.ernet.in/id/eprint/36591

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