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Quick Goal Seeking Algorithm for Frontier based Robotic Navigation

by Vaisakh V P
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 100 - Number 16
Year of Publication: 2014
Authors: Vaisakh V P
10.5120/17606-8374

Vaisakh V P . Quick Goal Seeking Algorithm for Frontier based Robotic Navigation. International Journal of Computer Applications. 100, 16 ( August 2014), 1-7. DOI=10.5120/17606-8374

@article{ 10.5120/17606-8374,
author = { Vaisakh V P },
title = { Quick Goal Seeking Algorithm for Frontier based Robotic Navigation },
journal = { International Journal of Computer Applications },
issue_date = { August 2014 },
volume = { 100 },
number = { 16 },
month = { August },
year = { 2014 },
issn = { 0975-8887 },
pages = { 1-7 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume100/number16/17606-8374/ },
doi = { 10.5120/17606-8374 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:30:06.113840+05:30
%A Vaisakh V P
%T Quick Goal Seeking Algorithm for Frontier based Robotic Navigation
%J International Journal of Computer Applications
%@ 0975-8887
%V 100
%N 16
%P 1-7
%D 2014
%I Foundation of Computer Science (FCS), NY, USA
Abstract

There arises situations where an autonomous robot needs to navigate to a target location and no information is available about the terrain. Frontier based navigation is one of the most efficient methods of exploration and navigation for such situations. In a frontier based strategy, the robot navigates to the target location by detecting intermediate frontier regions, which are points lying on the boundary separating the explored region from the unexplored. In this paper, a new frontier based robotic navigation algorithm called the Quick Goal Seeking (QGS) algorithm is proposed. The QGS algorithm is tested in a real-time environment and its performance is compared with two major frontier based navigation algorithms; Modified Goal Seeking (MGS) and Fast Frontier Detector (FFD). The QGS algorithm uses heuristic informed search for path planning. It consists of a highly optimized and efficient scanning function which minimizes the search space. The performance of these three algorithms is compared based on the total time taken to reach the destination. It has been found out that the QGS algorithm performs better than the MGS and FFD algorithms in almost all the cases.

References
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  8. Keidar, Matan and Gal A. Kaminka. : Efficient Frontier Detection for Robot Exploration. In: The International Journal of Robotics Research, Published on 22nd October (2013). 6
Index Terms

Computer Science
Information Sciences

Keywords

Frontier cells path planning robotics navigation IR range sensors

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