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Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration

2020-09-07 03:13:47
Zezhou Sun, Banghe Wu, Cheng-Zhong Xu, Sanjay E. Sarma, Jian Yang, Hui Kong
arXiv_CV
         
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.

Abstract (translated)

URL

https://arxiv.org/abs/2009.02869

PDF

https://arxiv.org/pdf/2009.02869.pdf

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