Integrated exploration using time-based potential rails

Integrated exploration is the most complete task in mobile robotics, and corresponds to the union of mapping, localization and motion planning. A powerful integrated exploration solution must take into account decisions that improve the quality of the map construction, such as closing loops, at the same time that the environment is explored. Potential fields and boundary value problems (BVP) have been used with success in tasks of planning, localization and exploration, but not yet in integrated strategies. In this paper, we present an integrated exploration strategy using a time varying BVP-based exploration. Our strategy consists of creating potential rails that guide the robot to regions that are either unexplored or were visited a long time ago. We also apply local distortions in the potential field to generate a loop closure strategy. Experimental results demonstrate that our method improves the quality of the map construction, keeping the balance between revisiting and exploratory activities.