3 accepted papers
Existing RRT-based exploration methods often suffer from interruptions in the exploration process due to the inability to detect all frontiers of the drivable area in the mapping map. These methods cannot detect all frontiers because the RRT expansion is disturbed by factors such as RRT preset param
In this paper, we propose an efficient frontier detector method based on adaptive Rapidly-exploring Random Tree (RRT) for autonomous robot exploration. Robots can achieve real-time incremental frontier detection when they are exploring unknown environments. First, our detector adaptively adjusts the…
We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization. We also carry out analysis on the reachability…