Multi-robot Exploration of Unknown Environment Using 2D Laser Scanner

In this study, exploration of unknown environments using LMS 200 Laser scanners with a team of multiple mobile robots is investigated. The aim is to investigate the ability of the cheap LMS 200 laser scanners to scan the environment and build its map. Furthermore, this study proposes two exploration algorithms to reduce the time required to explore a given environment using this type of laser scanners. Each robot is equipped with a single 2D LMS 200 laser scanner which is very cheap compared with 3D rotating laser scanner to explore its surroundings. The proposed exploration algorithms are intensively assessed with this laser scanner. The results of these tests showed that this laser scanner is able to effectively explore unknown environments. Furthermore, the results showed that the proposed exploration algorithms have increased the exploration efficiency by reducing the exploration time. A comparison among different exploration algorithms has showed the effectiveness of the proposed ones compared with the already exist ones.