Demo Scenario

To demonstrate the use of the frontier-based exploration planner, we present house scenario shown in the figure below. The haouse scenario refers to a 30x40x5m space. The vehicle starts from the marked position in the Gazebo world and navigates through the environment to explore the entire space.

For the experiments we use model of the a model of the Kopterworx quadcopter. The quadcopter is equipped with a LiDAR sensor, whose maximum range is set to 20m in simulations.

To run the demo scenario, make sure to follow the installation instructions and launch the exploration planner.

You can display the exploration progress in RViz following the visualization guid.

For the house scenario, the OctoMap resolution is 0.5m. For exploration we use level 15 (depth), that is, voxel size 1m and mean-shift kernel_bandwidth is 2. For more information take a look at the parameters.

The exploration progess is shown in the figures below.

The exploration is considered complete when the entire environment is explored and a complete map of the environment is created.

If you want to visualize an already generated OctoMap, visit the visualization page.