Multi Robot Area Exploration Using Modified Frontier Algorithm

Area exploration in robotics is done by number of methods some of which select next target based on shortest distance, other uses utility function and the most frequently used method is through frontier based area exploration which is boundary between explored and unexplored cells. In view of Multi robot, extra care should be taken as it may possible that two robot may collide or explore already explored cell. Because of redundant coverage, total number of steps robot takes to explore increases. This paper presents a modified frontier algorithm which explores area from outwards to inwards following coil like pattern. Area exploration in this manner helps in reducing exploration time and repetitive coverage. The proposed Modified Frontier algorithm has been tested by varying the structure of environment depending on number of obstacles. It is shown that the Modified Frontier algorithm performs better than basic frontier algorithm in terms of exploration time and movement steps.