New Environment Exploration Algorithm combining Bug, Free Segment and Turning Point Algorithm for Multi-Robot System

Exploration and mapping of an unknown environment is a challenging task and using a single robot is time consuming and inefficient. Multi Robot System(MRS) is used to reduces exploration time as well as to cover larger areas and produces accurate maps. This work focuses on development of new environment exploration algorithm for multi robot system which combines the features of Bug, Free segmentation and turning point algorithms. The Proposed algorithm utilizes capabilities of three mobile robots and tested on simulated outdoor environment with static obstacles. Two sub robots are equipped with LiDAR sensors and are used to explore the region between initial and target location. The point cloud generated by LiDAR sensors of the two robots is shared with the main/mother robot to generate an occupancy map. Mother robot execute $\mathrm{A}^{*}$ path planning algorithm on the occupancy map to find the shortest path and moves towards the target location. Proposed algorithm has low computational requirements and significantly reduces the time required to explore the given environment. Further, the performance of the proposed algorithm is compared with existing algorithms in terms of the time required to explore the environment and generate occupancy map.