Evaluating the Efficiency of Frontier-based Exploration Strategies

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 8Sprache: EnglischTyp: PDF

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Holz, Dirk; Behnke, Sven (University of Bonn, Department of Computer Science VI, Bonn, Germany)
Basilico, Nicola; Amigoni, Francesco (Politecnico di Milano, Dipartimento di Elettronica e Informazione, Milano, Italy)

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.