Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration
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© 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.
Date issued
2021-02Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringJournal
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
ISSN
978-1-7281-6212-6
978-1-7281-6213-3