Modified multiple depth first search algorithm for grid mapping using mini-robot khepera

Abstract EN

This paper presents a modified Multiple Depth First Search Algorithm (MDFS) for indoor environment exploration and map building using the mini robot Khepera II.

The environment is divided into small quadratic patches which contain some obstacles.

The locally developed teleworkbench is used as the experimental platform.

Experiments performed using the modified MDFS exhibited significant reduction in the exploration time by approximately 46%.

This reduction can be increased to 71% for the cases of “open areas” in comparison with the competing algorithms, namely the Ants algorithm 4 and the original MDFS.