In this paper, a sweeping algorithm is proposed with the goal of achieving maximal coverage while minimizing the overlapping areas, in an unknown environment. Two scenarios are considered: one in which the robots do not communicate with one another, and another in which the robots are allowed to communicate with one another. The simulations are performed on Webots, a multi-robot simulator, varying various parameters like environment size, obstacles, and number of robots and their positions. The coverage obtained with the proposed approach is 89-98%. When the robots are allowed to communicate, there is a reduction in exploration time that ranges from a minimum of 33% to a maximum of 68%.
Sweeping-Based Multi-Robot Exploration in an Unknown Environment Using Webots
Milani A.
2024-01-01
Abstract
In this paper, a sweeping algorithm is proposed with the goal of achieving maximal coverage while minimizing the overlapping areas, in an unknown environment. Two scenarios are considered: one in which the robots do not communicate with one another, and another in which the robots are allowed to communicate with one another. The simulations are performed on Webots, a multi-robot simulator, varying various parameters like environment size, obstacles, and number of robots and their positions. The coverage obtained with the proposed approach is 89-98%. When the robots are allowed to communicate, there is a reduction in exploration time that ranges from a minimum of 33% to a maximum of 68%.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
