Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration
Name
2009.02869.pdf
Description
Submitted version
Size
3.95 MB
Format
Unknown
Checksum (MD5)
700ef571ff4d43ac466ea8d0e3c42b96
Author(s)
Sun, Zezhou
Wu, Banghe
Xu, Cheng-Zhong
Sarma, Sanjay E
Yang, Jian
Kong, Hui
Date Issued
February 2021
Journal
IEEE International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Sun, Zezhou, Wu, Banghe, Xu, Cheng-Zhong, Sarma, Sanjay E, Yang, Jian et al. 2020. "Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration." IEEE International Conference on Intelligent Robots and Systems.
Version
Original manuscript
Abstract
© 2020 IEEE. We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization. We also carry out analysis on the reachability of frontiers and their clusters to ensure that the detected frontier can be reached by robot. Our method is tested on a mobile robot in real indoor scene to demonstrate the effectiveness and efficiency of our approach.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS45743.2020.9341735
