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Looking for an algorithm to determine the area and then methodically track the area

I am looking at playing with some basic robotics, I am looking at making a simple bot that moves around a room. The idea is that it will find the edges and as it is created a map of the area will be generated.

After that, I would like him to be able to methodically walk around the entire area to find any obstacles within that area.

Does anyone know of algorithms that do things like this?

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Try the following:

http://carmen.sourceforge.net/intro.html



CARMEN is an open source collection of software for mobile robots. CARMEN is a modular software designed to provide basic navigation primitives including: base and sensor management, logging, obstacle avoidance, localization, route planning and mapping.

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You can see what you can find in Roomba's algorithm as it does a lot of the same thing. The strategy they used was to find the size of the room and then traverse the area at random, where the overall size of the room determined how long to work to ensure full coverage.



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