Exploration and mapping are fundamental prerequisites for autonomous robots operating in initially unknown environments. In this paper, we evaluate simple yet efficient frontier-based exploration strategies. Furthermore, we discuss improvements to the classic frontier-based exploration strategy by Yamauchi et al. that further shorten the resulting exploration paths and present results from a comparative evaluation with a reference exploration strategy taken from the literature.
Evaluating the efficiency of frontier-based exploration strategies / D. Holz, N. Basilico, F. Amigoni, S. Behnke - In: Joint 41st International Symposium on Robotics and 6th German Conference on Robotics[s.l] : VDE Verlag, 2010. - ISBN 9781617387197. - pp. 36-43 (( convegno ROBOTIK tenutosi a Munich nel 2010.
Evaluating the efficiency of frontier-based exploration strategies
N. BasilicoSecondo
;
2010
Abstract
Exploration and mapping are fundamental prerequisites for autonomous robots operating in initially unknown environments. In this paper, we evaluate simple yet efficient frontier-based exploration strategies. Furthermore, we discuss improvements to the classic frontier-based exploration strategy by Yamauchi et al. that further shorten the resulting exploration paths and present results from a comparative evaluation with a reference exploration strategy taken from the literature.
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