On-Line Optimal Ranging Sensor Deployment for Robotic Exploration

Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB by agents, that permits dynamic placement and runtime extension of anchors while the robot explores new environment. We provide detailed analysis uncertainty system grows. Moreover, we developed genetic algorithm minimizes deployment anchors, saving energy resources on maximizing time mission. Although presented approach is general class system, run simulations experiments with indoor drones. Results demonstrate maximum controlled under user’s threshold, using Geometric Dilution Precision (GDoP).