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Algorithm to autonomously explore during SLAM

asked 2021-03-04 17:02:25 -0600

MadeleineP gravatar image

I am looking for some way to have a robot explore its environment while SLAM mapping. Ideally, the algorithm would drive the robot towards unexplored areas of the map.

I want to have the robot do this completely autonomously - so avoid teleop keyboard interface.

Does this exist for gmapping/hector SLAM and Turtlebot?

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answered 2021-03-05 03:19:37 -0600

Roberto Z. gravatar image

updated 2021-03-05 04:01:08 -0600

gvdhoorn gravatar image

Yes, you are looking for a ROS node for Frontier Exploration. In frontier exploration a robot combines the exploration of unknown territory with simultaneous localization and mapping (SLAM) in order to create a map of new discovered areas, until the entire environment has been explored.

This package should cover most needs: Frontier Exploration

Here are some additional ressources if needed:
- Hector Exploration Planner
- RRT Exploration

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Asked: 2021-03-04 17:02:25 -0600

Seen: 506 times

Last updated: Mar 05 '21