Evaluating the Efficiency of Frontier-based Exploration Strategies

Abstract

Exploration and mapping are fundamental prerequisites for autonomous robots operating in initially unknown environments. In this paper, we evaluate simple yet efficient fronti er-based exploration strategies. Furthermore, we discuss improvements to the classic frontier-based exploration st rategy by Yamauchi et al. that further shorten the resulting exploration paths and present results from a comparative evaluation with a reference exploration strategy taken from the literature.