Enclosed room exploration algorithm for an autonomous mobile robot

An enclosed room exploration algorithm for an autonomous mobile robot equipped with sensors is introduced. This paper includes the definition of the task of enclosed room exploration. The algorithm utilizes the data model of a floorplan, based on a concave polygon with holes, which is refined and enhanced by merging different views of the room in the iterative manner during exploration. This representation allows formulating the termination criterion that can be checked in constant time and constructing a graph for pathfinding and obstacle avoidance purposes. In addition, analysis of algorithm's computational complexity and results of a test based on synthetic datasets are provided. Furthermore, an approach to exploration path building and an algorithm of floorplan's polygons union are considered.