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

Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany

Proceedings: ISR/Robotik 2014

Pages: 8Language: englishTyp: PDF

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Authors:
Wettach, Jens; Berns, Karsten (Robotics Research Lab, Department of Computer Science, University of Kaiserslautern, Germany)

Abstract:
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.