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Frontier Based Multiple Goal Search in Unknown Environments

Jisha, VR and Ghose, D (2010) Frontier Based Multiple Goal Search in Unknown Environments. In: 13th Federation-of-International-Robot-soccer-Association Robot World Congress, SEP 15-17, 2010 , Amirit Vishwa Vidyapeetham, Bangalore, INDIA, pp. 353-360.

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Official URL: http://www.springerlink.com/content/k100304662148v...


We present a frontier based algorithm for searching multiple goals in a fully unknown environment, with only information about the regions where the goals are most likely to be located. Our algorithm chooses an ``active goal'' from the ``active goal list'' generated by running a Traveling Salesman Problem (Tsp) routine with the given centroid locations of the goal regions. We use the concept of ``goal switching'' which helps not only in reaching more number of goals in given time, but also prevents unnecessary search around the goals that are not accessible (surrounded by walls). The simulation study shows that our algorithm outperforms Multi-Heuristic LRTA* (MELRTA*) which is a significant representative of multiple goal search approaches in an unknown environment, especially in environments with wall like obstacles.

Item Type: Conference Paper
Series.: Communications in Computer and Information Science
Publisher: Springer
Additional Information: Copyright of this article belongs to Springer.
Keywords: Frontier cell;Occupancy grid;Multiple goal search
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 08 Apr 2011 05:55
Last Modified: 08 Apr 2011 05:55
URI: http://eprints.iisc.ac.in/id/eprint/36583

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