Evaluating the efficiency of frontier-based exploration strategies
ISR 2010 (41st International Symposium on Robotics) and ROBOTIK …, 2010•ieeexplore.ieee.org
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.
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.
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.
ieeexplore.ieee.org
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