Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration
Zezhou Sun, Banghe Wu, Chengzhong Xu, Sanjay E. Sarma, Jian Yang, Hui Kong
Abstract
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 of frontiers and their clusters to ensure that the detected frontier can be reached by robot. Our method is tested on a mobile robot in real indoor scene to demonstrate the effectiveness and efficiency of our approach.
Topics & Concepts
ReachabilityFrontierComputer scienceGraphMobile robotRobotSimultaneous localization and mappingArtificial intelligenceEfficient frontierComputer visionTheoretical computer scienceGeographyFinancial economicsEconomicsPortfolioArchaeologyRobotics and Sensor-Based LocalizationRobotic Path Planning AlgorithmsModular Robots and Swarm Intelligence