Frontier-based exploration

Objective

To carry out autonomous frontier-based exploration of an unknown indoor environment.

Frontiers refers to the points on the boundary between open space and unexplored space. By moving to new frontiers, a mobile robot can extend its map into unknown territory until the entire environment has been explored.

Turtlebot3 Implementations

Preliminary results are obtained using Explore_lite node of ROS.

Nodes used for simulation

1. Move_base
2. Gmapping
3. Explore_Lite

To run this simulation

• Start Gazebo simulator and spawn Turtlebot 3

export TURTLEBOT3_MODEL=waffle

roslaunch turtlebot3_gazebo turtlebot3_world.launch

• Run the following launch files

export TURTLEBOT3_MODEL=waffle

roslaunch turtlebot3_navigation turtlebot3_navigation.launch

export TURTLEBOT3_MODEL=waffle

roslaunch turtlebot3_slam turtlebot3_gmapping.launch

roslaunch explore_lite explore.launch