Reaction-Diffusion based Computational Model for Autonomous Mobile Robot Exploration of Unknown Environments
Alejandro Vazquez-Otero, Jan Faigl, Natividad Duro and Raquel Dormido
This paper introduces a computational model in which the main decision logic is based on principles arising from the dynamics of reaction-diffusion systems. The approach is an extension of our previous work where similar principles were used to develop a path planning algorithm. In this work, we select a mobile robot exploration task as a platform for exhibiting the core properties of the proposed computational framework. The functionalities represent particular building blocks that provide decision-logic capability of the exploration strategy. Beside a single mobile robot exploration, the proposed principles can also be generalized for multi-robot exploration, which is supported by the presented results.
Keywords: Reaction-diffusion equations, autowaves, exploration, mobile robots