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Summary: Evaluating the Efficiency of Frontier-based Exploration Strategies
Dirk Holz1
, Nicola Basilico2
, Francesco Amigoni2
and Sven Behnke1
1
University of Bonn, Department of Computer Science VI, Bonn, Germany
2
Politecnico di Milano, Dipartimento di Elettronica e Informazione, Milano, Italy
Abstract
Exploration and mapping are fundamental prerequisites for autonomous robots operating in initially unknown environ-
ments. In this paper, we evaluate simple yet efficient frontier-based exploration strategies. Furthermore, we discuss
improvements to the classic frontier-based exploration strategy by Yamauchi et al. that further shorten the resulting ex-
ploration paths and present results from a comparative evaluation with a reference exploration strategy taken from the
literature.
1 Introduction and Related Work
Exploring and mapping environments are fundamental pre-
requisites for autonomous mobile robots operating in ini-
tially unknown or dynamic environments. Exploration is
related to well-known problems from the field of com-
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