研究目的
To investigate the ability of the cheap LMS 200 laser scanners to scan the environment and build its map, and to propose two exploration algorithms to reduce the time required to explore a given environment using this type of laser scanners.
研究成果
The 2D Laser Scanner is efficient for exploring unknown environments with a team of mobile robots. The proposed algorithms significantly reduce the exploration time by spreading the robots over the environment and avoiding that more than one robot explores the same area.
研究不足
The algorithms need to be tested with more real world restrictions such as communication loss and robot localization problems.
1：Experimental Design and Method Selection:
The study employs LMS 200 Laser scanners with a team of multiple mobile robots to explore unknown environments. Two exploration algorithms are proposed to reduce exploration time.
2：Sample Selection and Data Sources:
The environment is represented as a 2D grid-based map. Each robot is equipped with a single 2D LMS 200 laser scanner.
3：List of Experimental Equipment and Materials:
LMS 200 Sick laser scanner, mobile robots.
4：Experimental Procedures and Operational Workflow:
Robots scan 180° in front of their bodies, publish collected information to partners, select next target cell based on the exploration algorithm used, plan path to target cell using A* algorithm, and move towards the target cell.
5：Data Analysis Methods:
The performance of the LMS 200 Sick laser scanner is assessed with five exploration algorithms, including two newly proposed ones.
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