论文标题
边界检测和可及性分析，用于有效的2D基于图形 - 基于主动探索
Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration
论文作者
论文摘要
我们通过利用制图师方法作为subsap创建和执行有效的边界检测的基础猛击模块，在图形优化引起的几何共归一分组中，提出了一种积极探索的方法。我们还对边界及其簇的达到性能进行分析，以确保可以通过机器人达到检测到的边界。我们的方法在实际室内场景中的移动机器人上进行了测试，以证明我们方法的有效性和效率。
We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization. We also carry out analysis on the reachability of frontiers and their clusters to ensure that the detected frontier can be reached by robot. Our method is tested on a mobile robot in real indoor scene to demonstrate the effectiveness and efficiency of our approach.
