Our autonomous ground vehicle uses Frontier Based exploration to navigate and map unknown environments. Equipped with sensors, it can avoid obstacles and make real-time decisions. It has potential applications in search and rescue, agriculture, and logistics, and represents an important step forward in autonomous ground vehicle development.

This project utilizes the Frontier-Based Exploration algorithm for autonomous exploration. The project employs DFS for grouping boundary points, A* for finding the shortest path, B-Spline for smoothing path curvature, and Pure Pursuit for path following, along with other obstacle avoidance techniques. The combination of these techniques aims to provide a sophisticated, efficient, and reliable solution for autonomous ground vehicle exploration in a wide range of applications.

https://youtu.be/UxCZAU9ZZoc

https://youtu.be/_1vtmFuhl9Y

• The exploration algorithm has been optimized.

• Robot decision algorithm has been changed. Watch the video for detailed information.

• Thread structure has been added to the exploration algorithm.

1 - To get started with autonomous exploration, first launch the Map Node

by running the following command:

ros2 launch slam_toolbox online_async_launch.py

2 - Then, launch the Gazebo simulation environment by setting the TurtleBot3

model, for example, using the following command:

export TURTLEBOT3_MODEL=burger

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

3 - Once the simulation environment is running, run the autonomous_exploration

package using the following command:

ros2 run autonomous_exploration control

This will start the robot's autonomous exploration.

• ROS2 - Humble
• Slam Toolbox
• Turtlebot3 Package