Autoexplorer: Autonomous Exploration of Unknown Environments using Fast Frontier-Region Detection and Parallel Path Planning
Kyung Min Han,Young J. Kim,Kyung Min Han,Young J. Kim
We propose a fully autonomous system for mobile robot exploration in unknown environments. Our system employs a novel frontier detection algorithm based on the fast front propagation (FFP) technique and uses parallel path planning to reach the detected front regions. Given an occupancy grid map in 2D, possibly updated online, our algorithm can find all the frontier points that can allow mobile rob...
