Robot Exploration Algorithm for Structured Environment

抄録

This paper presents a robot exploration algorithm which uses the repelling behaviour of anti-aphrodisiac pheromone mechanism. The algorithm can be used in a multi-robot system in which different robots can efficiently explore different areas of a scene while cooperating with each other through proper pheromone deposition. This eliminates the need of explicitly programming each service robot to serve particular areas of the map. The paths taken by robots are represented as nodes across which pheromones are deposited. Results show that the proposed scheme enables multiple service robots to perform cooperative tasks intelligently without any explicit programming.