Autonomous 3D Exploration of Indoor Environment Based on Wavefront Algorithm

摘要

Autonomous exploration and mapping is an important part of autonomous navigation of mobile robots in an unknown environment. This paper proposes a new 3D exploration strategy based on the wavefront algorithm. RGB-D camera is used to obtain environmental information. The diffusion process of wavefront algorithm is used to find frontier points. Firstly, selection function determines the next frontier point to be explored. Then, the mobile robot moves to the frontier point according to the path planned by the way of wavefront algorithm. When the mobile robot reaches the frontier point and completes the mapping, the mobile robot continues to search for the next frontier point. Finally, the exploration strategy is tested using the Robot Operating System (ROS). Simulational experiment shows that the 3D exploration based on the wavefront algorithm can choose the right frontier point and complete the exploration task quickly.