Environment exploration using a navigation algorithm based on virtual centrifugal force

Environment exploration and map-building are fundamental robotic application researches. An appropriate navigation algorithm can facilitate robots to map the environment within shorter time. A real-time navigation algorithm based on virtual centrifugal force is proposed in this paper for a robot to implement on-line exploration of an unknown environment in real time, and collision between a robot and an obstacle can be avoided with the VCF algorithm. The wall-following strategy is one of the special cases of the proposed algorithm when the robot approaches an obstacle. Simulation experiments are implemented to verify the effectivity of the proposed algorithm.