Collision free navigation of a non-holonomic ground robot for search and building maps of unknown areas with obstacles

We present a safe map building and area search algorithm for a mobile robot in a closed unknown environment with obstacles. A range finder sensor is used to detect the environment. The objective is to perform a complete search of the environment and build a complete map of it while avoiding collision with the obstacles. The developed robot navigation algorithm is randomized. We prove that with probability 1 the robot completes its task in a finite time. Computer simulations confirm the performance of the proposed method.