Frontier Based Exploration for Autonomous Robot

Understand

Exploration is process of selecting target points that yield the biggest contribution to a specific gain function at an initially unknown environment.

• Frontier-based exploration is the most common approach to exploration, wherein frontiers are regions on the boundary between open space and unexplored space.
• By moving to a new frontier, we can keep building the map of the environment, until there are no new frontiers left to detect.
• In this paper, an autonomous frontier-based exploration strategy, namely Wavefront Frontier Detector (WFD) is described and implemented on Gazebo Simulation Environment as well as on hardware platform, i.e.