Pattern and frontier-based, efficient and effective exploration of autonomous mobile robots in unknown environments

Hiroyuki Fujimoto, Junya Morimoto, Takuya Hayashi, Junji Yamato, Hiroyuki Ishii, Jun Ohya, Atsuo Takanishi

Research output: Contribution to journalConference articlepeer-review


This paper proposes a method with which mobile robots can explore unknown environments efficiently and effectively. For mobile robots, developing exploration methods in unknown environments is a challenging target. Navigation for environment monitoring is necessary in order to explore efficiently in unknown environment. Although a frontier-based exploration can be seen as a conventional method, this method is not necessarily a global optimal planning method, because it explores for the local optimal in each situation; in the monitoring task, it could fall into the local solution, because it could not take into consideration the overall observation efficiency. The proposed method exploits the whole observation and knowledge about the area of the unknown environment. It is possible for the proposed method to establish a global plan in consideration of efficiency and effectiveness by integrating pattern and frontier-based exploration. In simulation, it is shown that the proposed method of pattern and frontier-based exploration is useful for exploring unknown environments efficiently and effectively.

Original languageEnglish
Article numberAVM-039
JournalIS and T International Symposium on Electronic Imaging Science and Technology
Issue number15
Publication statusPublished - 2019 Jan 13
Event2019 Autonomous Vehicles and Machines Conference, AVM 2019 - Burlingame, United States
Duration: 2019 Jan 132019 Jan 17

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Human-Computer Interaction
  • Software
  • Electrical and Electronic Engineering
  • Atomic and Molecular Physics, and Optics


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