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.
Preliminary results are obtained using Explore_lite node of ROS.
- Move_base
- Gmapping
- 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