A Robust and Fast Occlusion-based Frontier Method for Autonomous Navigation in Unknown Cluttered Environments
Nicholas Mohammad,Nicola Bezzo,Nicholas Mohammad,Nicola Bezzo
Navigation through unknown, cluttered environments is a fundamental and challenging task for autonomous vehicles as they must deal with a myriad of obstacle configurations typically unknown a priori. Challenges arise because obstacles of unknown shapes and dimensions can create occlusions limiting sensor field of view and leading to uncertainty in motion planning. In this paper we propose to lever...
