The article proposes a new exploration method that combines frontier-based exploration with a collector strategy for autonomous unmanned aerial vehicles (UAVs) in 3D environments. The method addresses limitations of previous approaches, such as incomplete mapping and assumptions about map accuracy. The collector strategy stores and validates frontiers detected during exploration and selects the next best frontier for navigation. This ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. The method was tested in 3D simulation environments and validated in a real-world experiment.
Publication date: 22 Nov 2023
Project Page: Not Provided
Paper: https://arxiv.org/pdf/2311.12408
