This is the repository for Research and Development Project "Autonomous Exploration for Mobile Robots". The complete system is based on ROS and Hochschule BRS Robocup @Work repository, we implemented some map exploration methods mentioned below:

Methods of Exploration:

---

• Nearest Frontier [2] Hector_navigation
• Nearest Cluster
• Cost-Utility [1]
• Deep Q-Network

For running these algorithms look at launch file "mas_industrial_robotics/mir_autonomous_exploration/launch/autonomous_exploration_sim.launch" . Also, run rqt_reconfigure and go to hector_exploration_planner settings for changing exploration behavior. You can change exploration behavior from frontier exploration to Cluster Exploration or to cost-utility exploration.

For deep q-network implementation you need to know anaconda. environment file of anaconda is environment.yml . Also, docker files are available.

References

[1] Yan, Z., Fabresse, L., Laval, J., & Bouraqadi, N. (2015). Metrics for performance benchmarking of multi-robot exploration. IEEE International Conference on Intelligent Robots and Systems, 2015–Decem, 3407–3414.

[2] Yamauchi, B. (1998). Frontier-based exploration using multiple robots. Proc. of the Second International Conference on Autonomous Agents, 47–53.

Citation

@misc{daiem2018,
  author = {Ali, Daiem Nadir},
  title = {Autonommous Exploration for Mobile Robots},
  year = {2018},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/daiemna/Autonomous_Exploration}}
}