3D Reactive Control and Frontier-Based Exploration for Unstructured Environments
Shakeeb Ahmad,Andrew B. Mills,Eugene R. Rush,Eric W. Frew,J. Sean Humbert,Shakeeb Ahmad,Andrew B. Mills,Eugene R. Rush,Eric W. Frew,J. Sean Humbert
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the direct depth sensor information to ensure maximal information gain out of the onboard sensors. A frontier-based pose sampling technique is used with a fast marching ...