homework-4-Sharwin24

Manual Exploration

To run manual exploration, which will allow you to publish a goal pose in rviz using the button at the top:

# Make sure this package is next to nubot in your ws
ros2 launch nubot_nav manual_explore.launch.xml

manual_exploration.webm

Autonomous Exploration

2 autonomous exploration algorithms were implemented:

1. Frontier Exploration
2. "Random" Exploration

The frontier planner explained in the notes and this paper Ref [4]. The random explorer performs a bit better than the frontier planner since donut shaped frontiers were used to simplify the implementation. To change the autonomous exploration algorithm set explore_type to either random or frontier when launching explore.launch.xml:

# Make sure this package is next to nubot in your ws
ros2 launch nubot_nav explore.launch.xml explore_type:=random

autonomous_exploration.webm