Autonomous exploration and mapping in an unknown environment

Abstract

This work presents an autonomous exploration strategy for mapping in an unknown indoor environment by mobile robot. A simple and real-time system is designed for detecting an open free space via a Bayesian update theory instead of pre-trained system or accurate sensing system. Reactive navigation scheme is applied to start the exploration by using a predefined hierarchical fused fuzzy system (HFFS). The performance of the proposed algorithm is tested via robot simulator and physical mobile robot Pioneer 2DX.