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<p>In this paper, we present a novel method for autonomous robotic exploration using a car-like robot. The proposed method uses the frontiers in the map to build a tree representing the structure of the environment to aid the goal-selection method. An augmentation of the method is also proposed which is able to manage the loops present in the environment. In this case, the environment is represented with a graph structure. We compared the two proposed methods with seven state-of-the-art exploration methods in three simulated environments. The experiments show, that the proposed methods outperform the existing methods both in the time taken until full exploration and the distance traveled during the exploration, while offering a robust solution for autonomous robotic exploration without the need to tune several parameters to the unknown environment. The proposed exploration method was also tested using a real-life robot in an office scenario.</p>

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A tree-based exploration method: utilizing the topology of the map as the basis of goal selection

  • 期刊论文

  • 发表日期：

    2025年12月2日

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  • Barbara Abonyi-Tóth,
  • Ákos Nagy

摘要

In this paper, we present a novel method for autonomous robotic exploration using a car-like robot. The proposed method uses the frontiers in the map to build a tree representing the structure of the environment to aid the goal-selection method. An augmentation of the method is also proposed which is able to manage the loops present in the environment. In this case, the environment is represented with a graph structure. We compared the two proposed methods with seven state-of-the-art exploration methods in three simulated environments. The experiments show, that the proposed methods outperform the existing methods both in the time taken until full exploration and the distance traveled during the exploration, while offering a robust solution for autonomous robotic exploration without the need to tune several parameters to the unknown environment. The proposed exploration method was also tested using a real-life robot in an office scenario.