A motion strategy for exploration driven by an automaton activating feedback-based controllers

Abstract

This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. To explore the environment, the robot follows the environment boundary. In the first part of this paper, we propose a motion policy based on simple sensor feedback and a complete exploration strategy is represented as a Moore machine. The proposed motion policy is based on the paradigm of avoiding the state estimation; there is a direct mapping from observation to control. We present the theoretical conditions guaranteeing that the robot discovers the largest possible region of the environment. In the second part of the paper, we propose an automaton that filters spurious observations to activate feedback-based controllers. We propose a practical control scheme whose objective This work was partially funded by CONACYT projects 220796 and 264896.

Bioinspired Perception and Navigation of Service Robots in Indoor Environments: A Review

“…Additionally, Table 2 displays papers about remote sensing navigation, focusing on LiDAR, laser ranger, and infrared sensors. The tasks include exploration [ 63 , 64 , 66 , 71 ], wheelchair [ 78 ], transport [ 65 , 73 , 74 , 75 ], fire services or search and rescue [ 70 ], floor cleaning [ 68 ], tracking [ 76 ], education [ 72 ], and caring and service [ 79 ]. Some approaches are combined with path planning algorithms, including metaheuristic algorithm, potential field, and A* for navigation [ 66 , 68 , 70 , 78 ].…”

“…The control model could exercise collision avoidance, formation generation and keeping, and obstacle avoidance behaviors. Martinez et al [ 71 ] explored an unknown polygonal and connected environment by a motion policy based on a complete exploration strategy and simple sensor feedback with the shape of a disc. It directly mapped to the control from the observation with omnidirectional sensors such as two laser range finders.…”

Exploration and Mapping with Groups of Robots: Recent Trends

“…Aguilar et al [69] develop an algorithm that keeps track of obstacles to explore and makes the robots circumnavigate such obstacles. Similarly, Martinez et al [70] design an exploration automaton based on a wall following behavior in polygonal environments and sensors with unlimited range.…”

An Automaton and Super-Twisting Sliding-Mode Control for Wall Following

“…The resulting wall following capability can be used in the task of exploring an unknown environment (Gonzalez and Latombe, 2002;Laguna et. al, 2014;Martinez et. al, 2019) or to find objects in the environment (Tovar et.…”

“…We propose to use an automaton which manages the robot observations and selects the control set-points of a single controller according to the state in the automaton. This is a novel use of automatons, since typically an automaton switches controllers (Martinez et. al, 2019;Toibero et.…”