Exploration of unknown environments

[eborghi10]

In ROS it is possible to explore environments with the use of occupancy grid frontiers. One of the nodes, that perform this task is explore_server node from frontier_exploration package. This node uses occupancy grid e.g. created by slam_gmapping and publishes goal position to /move_base/goal topic subscribed by path planner e.g. move_base node.

More information:

• Husarion tutorial
• Paper: Frontier Based Exploration for Autonomous Robot

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Possible approaches:

• frontier_exploration
• jackal_exploration
• TinyNomad

For multiple robots:

• rrt_exploration
• explorer