Finding objects with segmentation strategy based multi robot exploration in unknown environment
In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investig...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2013
|
| Online Access: | http://psasir.upm.edu.my/id/eprint/48037/ http://psasir.upm.edu.my/id/eprint/48037/1/48037.pdf |
| _version_ | 1848850971810070528 |
|---|---|
| author | Arezoumand, Reza Mashohor, Syamsiah Marhaban, Mohammad Hamiruce |
| author_facet | Arezoumand, Reza Mashohor, Syamsiah Marhaban, Mohammad Hamiruce |
| author_sort | Arezoumand, Reza |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investigated in this paper one is frontier based random search algorithm and the second is efficient algorithm based on segmentation strategy. To improve efficiency, each robot had to go to different regions to avoid cumulating robots in one region. Constructed maps for all four regions could be shared and navigation could be done more effectively. For constructing map robot can use on built range finder sensor or using vision based systems. Also the algorithm using segmentation strategy is using frontier base algorithm for exploring divided area. Both algorithm implemented and analyzed in Player/Stage simulation. The result was compared and showed the efficiency of the designed algorithm based segmentation strategy. In simulation this algorithm is tested with different number of robots to achieve better view of efficiency for proposed algorithm in different type of environment like harsh environment as possibility of losing some robots. |
| first_indexed | 2025-11-15T10:14:46Z |
| format | Article |
| id | upm-48037 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T10:14:46Z |
| publishDate | 2013 |
| publisher | Elsevier |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-480372016-08-04T08:33:47Z http://psasir.upm.edu.my/id/eprint/48037/ Finding objects with segmentation strategy based multi robot exploration in unknown environment Arezoumand, Reza Mashohor, Syamsiah Marhaban, Mohammad Hamiruce In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investigated in this paper one is frontier based random search algorithm and the second is efficient algorithm based on segmentation strategy. To improve efficiency, each robot had to go to different regions to avoid cumulating robots in one region. Constructed maps for all four regions could be shared and navigation could be done more effectively. For constructing map robot can use on built range finder sensor or using vision based systems. Also the algorithm using segmentation strategy is using frontier base algorithm for exploring divided area. Both algorithm implemented and analyzed in Player/Stage simulation. The result was compared and showed the efficiency of the designed algorithm based segmentation strategy. In simulation this algorithm is tested with different number of robots to achieve better view of efficiency for proposed algorithm in different type of environment like harsh environment as possibility of losing some robots. Elsevier 2013 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/48037/1/48037.pdf Arezoumand, Reza and Mashohor, Syamsiah and Marhaban, Mohammad Hamiruce (2013) Finding objects with segmentation strategy based multi robot exploration in unknown environment. Procedia - Social and Behavioral Sciences, 97. pp. 580-586. ISSN 1877-0428 http://www.sciencedirect.com/science/article/pii/S187704281303721X 10.1016/j.sbspro.2013.10.276 |
| spellingShingle | Arezoumand, Reza Mashohor, Syamsiah Marhaban, Mohammad Hamiruce Finding objects with segmentation strategy based multi robot exploration in unknown environment |
| title | Finding objects with segmentation strategy based multi robot exploration in unknown environment |
| title_full | Finding objects with segmentation strategy based multi robot exploration in unknown environment |
| title_fullStr | Finding objects with segmentation strategy based multi robot exploration in unknown environment |
| title_full_unstemmed | Finding objects with segmentation strategy based multi robot exploration in unknown environment |
| title_short | Finding objects with segmentation strategy based multi robot exploration in unknown environment |
| title_sort | finding objects with segmentation strategy based multi robot exploration in unknown environment |
| url | http://psasir.upm.edu.my/id/eprint/48037/ http://psasir.upm.edu.my/id/eprint/48037/ http://psasir.upm.edu.my/id/eprint/48037/ http://psasir.upm.edu.my/id/eprint/48037/1/48037.pdf |