An exploration strategy based on construction of Voronoi diagrams

We present novel exploration algorithms and control law that enable the construction of Voronoi diagram in an initially unknown area using one vehicle equipped with range scanners. Our control law and exploration algorithms are provably complete, i.e., convergence is guaranteed. The control laws use range measurements to make the vehicle track Voronoi edges between two obstacles. The exploration algorithms make decisions at Voronoi vertices to expand the explored area until a complete Voronoi diagram is constructed in finite time. Simulation results are provided to demonstrate the effectiveness of both the control laws and the exploration algorithms.