Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection

Figure 7

Path planning for a mobile robot. The robot performs replanning when its planned path is obstructed by some obstacle either (a) static obstacle or (b) mobile obstacle. We observe the planned path (set of red line segments), the mobile robot in the current position and its goal , the static obstacles in the scenario in gray color, the other mobile robots in color gray with blue, and the different labels of the cells (in black color for the static obstacle cells, in yellow color for the explored cells, in green color for the mobile obstacle cells, and in white color for the unexplored cells).

(a)

(b)