Closest-Frontier Exploration of Player/Stage: Hospital

Exploring a simulated environment (hospital/everything.cfg of Player/Stage) using a simple closest frontier approach. The exploration strategy repetitively checks whether or not the currently approached frontier is still a frontier and re-plans the next best view if not. Furthermore, the robot segments the underlying map into rooms and prefers frontiers lying in the same segment as its own pose.

Category:

Science & Technology

Tags:

• exploration
• slam
• path planning
• motion control