**Author details**

*Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation...*

*Consistency test of the Extended REG method applied to the SLAM problem.*

*Map obtained with the Extended REG method applied to the SLAM problem.*

to determine which of them had been explored (**Table 3**).

Moreover, since our proposal is based on the REG algorithm, one of the main benefits contained in the extension presented in this paper is the guarantee with a high degree of confidence that the environment will be fully covered in most cases, because it is possible to have a constant knowledge of the state of unexplored areas of the environment thanks to frontier control. Thus, to evaluate the coverage of the environment by the exploration method, this was divided into grids, which served

Finally, the algorithm of path planning for unknown environments presented in this article was developed with the intention of being integrated to SLAM algorithms to obtain an integral tool for the construction of autonomous maps. Although the Extended REG method could be used as a control module with any SLAM algorithm, for the tests performed, it was decided to use the method developed by Pedraza et al. [13] given the similarity of approaches when applying the methods in unstructured environments. The tests and results obtained are shown in **Figures 10** and **11**.

In this work, a strategy was presented for the problem of exploration of environments for SLAM; the approach presented is based on the REG algorithm introduced in [12], which builds a graph-like data structure that integrally exploits the experience acquired during the exploration process to perform this task efficiently. The main contribution of the exploration proposal made in this article is the use of a simplified criterion to find the next position to explore based on the hierarchy of free borders detected in an instant of time, which allows the elimination of unnecessary movements of the robot, increasing its efficiency. The main advantage of this

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**4. Conclusions**

**Figure 10.**

**Figure 11.**

Alfredo Toriz Palacios1 \* and Abraham Sánchez López2


\*Address all correspondence to: alfredo.toriz@upaep.mx

© 2019 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
