Exploration of unknown environments with a tethered mobile robot
Danylo Shapovalov,Guilherme A. S. Pereira,Danylo Shapovalov,Guilherme A. S. Pereira
This paper presents a tangle-free frontier based exploration algorithm for planar mobile robots equipped with limited length and anchored tethers. After planning a path to the closest point in the frontier between free and unknown space, the robot computes an estimate of the future length of its tether and decides, by comparing the anticipated length with the minimum possible tether length, whethe...
