Combining Dynamic Frontier Based and Ground Plan Based Exploration: a Hybrid Approach

Inhalt:
Exploration of unknown environments is a key feature of autonomous service robots since a reliable map of the working space is a prerequisite for any navigation task. In the past a serious of exploration strategies has been developed that operate on different kinds of maps. This paper presents a new hybrid strategy which exploits the difference of floor and ceiling layout in the first place and uses a dynamic extension of the well-established frontier based approach as fallback in situations where the acquisition of room extensions is impossible.