Table of Contents
ISRN Robotics
Volume 2013, Article ID 954610, 11 pages
Research Article

Mobile Robot Exploration by Using Environmental Boundary Information

Research Into Artifacts, Center for Engineering (RACE), The University of Tokyo, Kashiwa, Chiba 277-8568, Japan

Received 4 June 2013; Accepted 19 June 2013

Academic Editors: O. Reinoso Garcia, A. Sabanovic, and C.-C. Tsai

Copyright © 2013 Theeraphol Wattanavekin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We present the method of exploration using environmental boundary information for an indoor map generation problem of a mobile robot. We introduce an exploration method by (i) integration of the exploration method with Reaction-Diffusion Equation on a Graph (RDEG) and connected components labeling and (ii) a replanning framework in updating exploration plan for the currently obtained sensor information. Our approach has been implemented in simulation environments and has been compared with two existing methods: frontier-based exploration method and zig-zag method. The results demonstrate the efficiency of our approach over others. Lastly, the approach was implemented and tested on an actual robot, demonstrating its efficiency in a real-world situation.