Autonomous Exploration Algorithm for Mobile Robots in Unknown Confined Environment

摘要

For the efficiency and precision of autonomous exploration, this paper proposes an optimized algorithm for mobile robots in unknown confined environment. However, the traditional algorithms frequently lead to excessive navigation distance and waste of exploration time consumption. To address these limitations, frontier point selection is improved by utilizing RRT, accomplishing significant improvement in computational efficiency. The exploration path planning was accomplished through the utilization of an enhanced Dijkstra’s algorithm, in conjunction with a topological map. Through experimental comparisons, the proposed algorithm achieves significant advantages over existing frontier-based and RRT-based algorithms when dealing with complex environments. In particular, our system is able to reduce the traveling distance by up to 55.16% in difficult scenarios.