Environment Exploration Using Mini-Robot Khepera

Abstract

This paper presents some results in the implementation of a local navigation strategy for environment exploration using real robot. As an experiment platform we used mini-robot Khepera II running in the Teleworkbench. The complete environment is divided into small quadratic patches with some objects placed in it. With on-board infrared sensors and wheel encoder, the robot can successfully explore the unknown environment. Moreover, by calculating the distance of surrounding patches, the implemented algorithm will minimize the distance traveled, in turn less energy and time. This paper also shows the advantage of using the Teleworkbench for performing experiments using real robots.