A Novel Exploration Algorithm Based on a Improvement Strategy

Abstract

In this paper we present a strategy for the problem of exploring an unknown 2D environment. Existing techniques can be methodical, goal oriented or non-reactive to additional knowledge received at each new viewpoint. We present an approach which is not goal driven, but rather seeks new unseen areas to view and explore. The novelty of the strategy presented is the use of a view-improvement technique along with an optimal viewpoint planning method for the calculation and selection of the next-best-viewpoint. The strategy is designed for a sensor system with a limited field-of-view. Example explorations are presented and we demonstrate that the strategy finds new areas to view without exhaustive searching.