Ada-Detector: Adaptive Frontier Detector for Rapid Exploration
Zezhou Sun,Banghe Wu,Chengzhong Xu,Hui Kong,Zezhou Sun,Banghe Wu,Chengzhong Xu,Hui Kong
In this paper, we propose an efficient frontier detector method based on adaptive Rapidly-exploring Random Tree (RRT) for autonomous robot exploration. Robots can achieve real-time incremental frontier detection when they are exploring unknown environments. First, our detector adaptively adjusts the sampling space of RRT by sensing the surrounding environment structure. The adaptive sampling space...
