Exploration Planning Of Autonomous Robot In Unknown Environment

In this paper, we focus on the exploring unknown dynamic environment using autonomous robot and study the problem of how to travel all environment and detect moving objects.Firstly, review a lot of relevant papers and conclude recent ergodicity algorithm and algorithm of detecting moving objects. Based on the synthesis conclusion, in order to solve the problem here -exploring environment in a room, we give an idea to solve it. Analyzing working principle of many sensors and comparing them each other, we choose laser range finder as main sensor.Secondly, we give an ergodicity algorithm to unknown environment as tree structure. Structuring the gaps to a tree form found by laser range finder, travel all the environment by traveling all gaps and optimize the path's structure.Lastly, we give an algorithm which can detect moving objects and match them each other using laser data and rule data based on analysis of the stock-still obstacle's and moving obstacle's fringe character.In first part we summarize the background and the development of this project. In second part we give an overview of the architecture of autonomous robot Pioneer 2-DX8. The third part describes an ergodicity algorithm and proves its ergodicity. The fourth part gives an algorithm of detecting moving objects based on getting character and matching using rule base. The fifth part shows the conclusion and expectation.