Autonomous Exploration and Mapping using a Mobile Robot Running ROS

Abstract

This paper proposes a practical solution to the autonomous exploration and mapping problem using a single mobile robot. Moreover, the authors implement the proposed scheme within the Robot Operating System (ROS), and validate it experimentally using PowerBot, a real wheeled mobile robot equipped with a 2D laser scanner. In essence, the proposed scheme integrates an efficient particle-filter-based SLAM algorithm, two different exploration strategies, and a path-planning and navigation module. The modular nature of the proposed scheme is intentional and advantageous. It allows the authors to compare the two exploration strategies under investigation objectively and with ease. Finally, hypotheses testing is also used to strengthen the results of the comparative analysis.