A frontier-based approach for autonomous exploration
Top Cited Papers
- 22 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
We introduce a new approach for exploration based on the concept of frontiers, regions on the boundary between open space and unexplored space. By moving to new frontiers, a mobile robot can extend its map into new territory until the entire environment has been explored. We describe a method for detecting frontiers in evidence grids and navigating to these frontiers. We also introduce a technique for minimizing specular reflections in evidence grids using laser-limited sonar. We have tested this approach with a real mobile robot, exploring real-world office environments cluttered with a variety of obstacles. An advantage of our approach is its ability to explore both large open spaces and narrow cluttered spaces, with walls and obstacles in arbitrary orientation.Keywords
This publication has 5 references indexed in Scilit:
- High resolution maps from wide angle sonarPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Spatial learning for navigation in dynamic environmentsIEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 1996
- Rapid Task Learning for Real RobotsPublished by Springer Nature ,1993
- Integration of representation into goal-driven behavior-based robotsIEEE Transactions on Robotics and Automation, 1992
- A robot exploration and mapping strategy based on a semantic hierarchy of spatial representationsRobotics and Autonomous Systems, 1991