Local map-based exploration using a breadth-first search algorithm for mobile robots

Ryu, Hyejeong; Chung, Wan Kyun

doi:10.1007/s12541-015-0269-9

Cited by 16 publications

(11 citation statements)

References 21 publications

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“…Local map-based exploration methods have previously been proposed [28,29] to overcome the inefficiencies that arise due to dependence on one global grid map for detecting frontier cells and to systematically organize the target candidates. In local map-based exploration, the frontier cells are detected from a local map constructed based on current sensor measurements, not from the global grid map.…”

Section: Related Workmentioning

confidence: 99%

“…In our previous works, we proposed a method to extract frontier nodes on a local grid map and construct the frontier-tree for local map-based exploration [28,29]. In this paper, we rename the frontier-tree to obtain a frontier-graph that represents the proposed frontier node-edge structure.…”

Section: Frontier-graph Structurementioning

confidence: 99%

“…In the BFS exploration, unexplored sibling nodes have a higher priority than child nodes [29]. If all sibling nodes have been explored and have local maps, the robot goes back to the parent node for loop-closing.…”

Section: Graph-search-based Exploration For Frontier-graph Structurementioning

confidence: 99%

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Graph Search-Based Exploration Method Using a Frontier-Graph Structure for Mobile Robots

Ryu

2020

Sensors

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This paper describes a graph search-based exploration method. Segmented frontier nodes and their relative transformations constitute a frontier-graph structure. Frontier detection and segmentation are performed using local grid maps of adjacent nodes. The proposed frontier-graph structure can systematically manage local information according to the exploration state and overcome the problem caused by updating a single global grid map. The robot selects the next target using breadth-first search (BFS) exploration of the frontier-graph. The BFS exploration is improved to generate an efficient loop-closing sequence between adjacent nodes. We verify that our BFS-based exploration method can gradually extend the frontier-graph structure and efficiently map the entire environment, regardless of the starting position.

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Section: Related Workmentioning

confidence: 99%

Section: Frontier-graph Structurementioning

confidence: 99%

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Graph Search-Based Exploration Method Using a Frontier-Graph Structure for Mobile Robots

Ryu

2020

Sensors

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“…Otherwise, the breadth-first search (BFS) algorithm is used to search for a nearby unoccupied area until all planning areas are marked. 24 In addition, the improved boustrophedon algorithm is obtained once the traditional boustrophedon algorithm overlaps the first coverage path.…”

Section: Efficient Full Coverage Path Planning Algorithmmentioning

confidence: 99%

Design, path planning improvement and test of a portable massage robot on human back

Wang

Zhang

Liang

et al. 2018

International Journal of Advanced Robotic Systems

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A massage robot that helps to improve the quality of human life has attracted more interests of researchers and consumers. A portable back massage robot that is compact and space-saving was designed to be used on human back instead of a traditional large-scale structure robot. To design the massage robot, the models of electric circuit, magnetic circuit and mechanics were analyzed to achieve optimal massage force. Parameters of the massage actuator are determined based on the influence analysis of the coil current, the coil turns and the distance between the moving core and the yoke on the electromagnetic force. The massage coverage of human back, which is used to calculate the massage effect, could be improved by an excellent path planning algorithm. This article proposed an efficient full covered path planning algorithm for the designed massage robot, and the relevant algorithm models were established. Simulation results show that the coil current is much more sensitive to electromagnetic force of the moving core compared to the other two factors, and the presented path planning algorithm completes full coverage of the massage robot on the back area. The experimental platform of the massage robot was built, and the influence of the input signal duty cycle, the input signal voltage and the hardness of the massage object on the massage effect was discussed by testing the values of acceleration. The tested results show that the massage effect is best when the duty cycle is in the range of 1/8–1/2. Meanwhile, the hardness of massage parts affects the massage intensity. The consistency between the tested results of path planning and simulation verifies the feasibility of the simulation procedure and indicates that the massage robot can attain the desired massage performance and realize the planned paths.

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“…In a study by [16] to explore the trajectory planning of autonomous robots, algorithm operation time was taken into account. [17] considered the importance of the travel distances of real robots.…”

Section: Introductionmentioning

confidence: 99%

Optimized Graph Search Algorithms for Exploration with Mobile Robot

Güllü

Kuscu

2021

EMITTER Int'l J. of Engin. Technol.

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Graph search algorithms and shortest path algorithms, designed to allow real mobile robots to search unknown environments, are typically run in a hybrid manner, which results in the fast exploration of an entire environment using the shortest path. In this study, a mobile robot explored an unknown environment using separate depth-first search (DFS) and breadth-first search (BFS) algorithms. Afterward, developed DFS + Dijkstra and BFS + Dijkstra algorithms were run for the same environment. It was observed that the newly developed hybrid algorithm performed the identification using less distance. In experimental studies with real robots, progression with DFS for the first-time discovery of an unknown environment is very efficient for detecting boundaries. After finding the last point with DFS, the shortest route was found with Dijkstra for the robot to reach the previous node. In defining a robot that works in a real environment using DFS algorithm for movement in unknown environments and Dijkstra algorithm in returning, time and path are shortened. The same situation was tested with BFS and the results were examined. However, DFS + Dijkstra was found to be the best algorithm in field scanning with real robots. With the hybrid algorithm developed, it is possible to scan the area with real autonomous robots in a shorter time. In this study, field scanning was optimized using hybrid algorithms known.

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Local map-based exploration using a breadth-first search algorithm for mobile robots

Cited by 16 publications

References 21 publications

Graph Search-Based Exploration Method Using a Frontier-Graph Structure for Mobile Robots

Graph Search-Based Exploration Method Using a Frontier-Graph Structure for Mobile Robots

Design, path planning improvement and test of a portable massage robot on human back

Optimized Graph Search Algorithms for Exploration with Mobile Robot

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