A Novel Frontier-Based Exploration Algorithm for Mobile Robots

Daniel Louback da Silva Lubanco; Markus Pichler; Thomas Schlechter

doi:10.1109/ICMRE49073.2020.9064866

A Novel Frontier-Based Exploration Algorithm for Mobile Robots

Daniel Louback da Silva Lubanco, Markus Pichler, Thomas Schlechter

Research Center Wels

Research output: Chapter in Book/Report/Conference proceedings › Conference contribution › peer-review

16 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 language	English
Title of host publication	2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-5
Number of pages	5
ISBN (Electronic)	9781728157399
DOIs	https://doi.org/10.1109/ICMRE49073.2020.9064866
Publication status	Published - Feb 2020
Event	6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020 - Barcelona, Spain Duration: 12 Feb 2020 → 15 Feb 2020

Publication series

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

Conference

Conference	6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020
Country/Territory	Spain
City	Barcelona
Period	12.02.2020 → 15.02.2020

Keywords

exploration
mapping
navigation
robotics

Access to Document

10.1109/ICMRE49073.2020.9064866

Cite this

Louback da Silva Lubanco, D., Pichler, M., & Schlechter, T. (2020). A Novel Frontier-Based Exploration Algorithm for Mobile Robots. In 2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020 (pp. 1-5). Article 9064866 (2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMRE49073.2020.9064866

Louback da Silva Lubanco, Daniel ; Pichler, Markus ; Schlechter, Thomas. / A Novel Frontier-Based Exploration Algorithm for Mobile Robots. 2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1-5 (2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020).

@inproceedings{a9a542bd84c340d5ac73bc0dd4d53630,

title = "A Novel Frontier-Based Exploration Algorithm for Mobile Robots",

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.",

keywords = "exploration, mapping, navigation, robotics",

author = "{Louback da Silva Lubanco}, Daniel and Markus Pichler and Thomas Schlechter",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020 ; Conference date: 12-02-2020 Through 15-02-2020",

year = "2020",

month = feb,

doi = "10.1109/ICMRE49073.2020.9064866",

language = "English",

series = "2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1--5",

booktitle = "2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020",

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Louback da Silva Lubanco, D, Pichler, M & Schlechter, T 2020, A Novel Frontier-Based Exploration Algorithm for Mobile Robots. in 2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020., 9064866, 2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1-5, 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020, Barcelona, Spain, 12.02.2020. https://doi.org/10.1109/ICMRE49073.2020.9064866

A Novel Frontier-Based Exploration Algorithm for Mobile Robots. / Louback da Silva Lubanco, Daniel; Pichler, Markus; Schlechter, Thomas.
2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1-5 9064866 (2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020).

Research output: Chapter in Book/Report/Conference proceedings › Conference contribution › peer-review

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AB - 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.

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KW - mapping

KW - navigation

KW - robotics

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Louback da Silva Lubanco D, Pichler M, Schlechter T. A Novel Frontier-Based Exploration Algorithm for Mobile Robots. In 2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1-5. 9064866. (2020 6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020). doi: 10.1109/ICMRE49073.2020.9064866

A Novel Frontier-Based Exploration Algorithm for Mobile Robots

Abstract

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6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020 (Event)

Cite this

A Novel Frontier-Based Exploration Algorithm for Mobile Robots

Abstract

Publication series

Conference

Keywords

Access to Document

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6th International Conference on Mechatronics and Robotics Engineering, ICMRE 2020 (Event)

Cite this