A Novel Frontier-Based Exploration Algorithm for Mobile Robots

Daniel Louback da Silva Lubanco, Markus Pichler, Thomas Schlechter

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

4 Citations (Scopus)

Abstract

This paper aims to bring a novel approach to the exploration paradigm of mobile robots. Consequently, it uses the frontier-exploration method alongside a utility function in order to determine new goals to be achieved by the robot. The proposed approach was implemented using the Robot Operating System as the middleware, and makes use of several packages for, e.g., mapping and navigation. The algorithm implemented in this paper was motivated by the original work on frontier exploration developed by Yamauchi [1] as well as the more recent development, e.g., histogram-based frontier exploration. In addition, this paper aims to include additional parameters in order to enhance the decisions made by the exploration algorithm.

Original languageEnglish
Title of host publication2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-5
Number of pages5
ISBN (Electronic)9781728157399
DOIs
Publication statusPublished - Feb 2020
Event6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020 - Barcelona, Spain
Duration: 12 Feb 202015 Feb 2020

Publication series

Name2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020

Conference

Conference6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020
CountrySpain
CityBarcelona
Period12.02.202015.02.2020

Keywords

  • exploration
  • mapping
  • navigation
  • robotics

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