The paper presents a strategy for robotic exploration problems using Space-Filling curves (SFC). The region of interest is first tessellated, and the tiles/cells are connected using some SFC. A robot follows the SFC to explore the entire area. However, there could be obstacles that block the systematic movement of the robot. We overcome this problem by providing an evading technique that avoids the blocked tiles while ensuring all the free ones are visited at least once. The proposed strategy is online, implying that prior knowledge of the obstacles is not mandatory. It works for all SFCs, but for the sake of demonstration, we use Hilbert curve. We present the completeness of the algorithm and discuss its desirable properties with examples. We also address the non-uniform coverage problem using our strategy.

翻译：本文提出了一种利用空间填充曲线（Space-Filling Curves, SFC）进行机器人探索问题的策略。首先将感兴趣区域进行网格划分，并通过某种SFC连接各网格单元。机器人沿SFC行进以探索整个区域，但可能因障碍物阻碍其系统性移动。我们提出一种规避技术，在确保所有无障碍网格单元至少被访问一次的前提下，跳过被阻塞的网格单元。该策略具有在线特性，即无需预先获知障碍物信息。该方法适用于所有SFC，为便于演示，我们以希尔伯特曲线（Hilbert curve）为例进行说明。我们证明了算法的完备性，并通过算例讨论了其理想特性。此外，我们还利用该策略解决了非均匀覆盖问题。