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2018 | OriginalPaper | Chapter

Fast Frontier Detection Approach in Consecutive Grid Maps

Authors : Petr Neduchal, Miroslav Flídr, Miloš Železný

Published in: Interactive Collaborative Robotics

Publisher: Springer International Publishing

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Abstract

This paper deals with frontiers detection in occupancy grid maps. The proposed method is based on differences between consecutive maps. Using this approach, frontiers detection is accelerated by calculating the third map which contains only new data. Thus, only new frontiers are detected and added to the list of frontiers. The main contribution of this paper is the description of the proposed approach and its open sourced implementation in Python. Moreover, several results of experiments are discussed. The proposed approach is capable to run very fast even for large maps with many frontiers.

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previous chapter Automatic Synthesis Gait Scenarios for Reconfigurable Modular Robots Walking Platform Configuration

next chapter Design and Operation Principles of the Magnetomechanical Connector of the Module of the Mobile Autonomous Reconfigurable System

http://wiki.ros.org/stage.

https://github.com/neduchal/frontiers_detector.

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Title: Fast Frontier Detection Approach in Consecutive Grid Maps
Authors: Petr Neduchal
Miroslav Flídr
Miloš Železný
Publisher: Springer International Publishing
Book: Interactive Collaborative Robotics
Print ISBN: 978-3-319-99581-6

Electronic ISBN: 978-3-319-99582-3

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-99582-3_20

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