An Exploration Algorithm Suitable for Indoor Mapping Based on RRT-Exploration

Abstract

Many methods have been proposed for exploration algorithms for mobile robots. In this work, we focused on an exploration algorithm called RRT-Exploration. The advantage of this method is that it is less computational cost than other methods and is more efficient in large scale environments. However, unexplored areas remain on the exploration result map. Also, the robot moves in a roundabout way. To solve this problem, we incorporated an algorithm that makes it easier to find small unexplored area and an algorithm that preferentially explores for nearby unexplored area. Experiments in the simulation space demonstrate the effectiveness of the proposed system.