Implementation of Yamauchi's Frontier Detection, Fast Frontier Detection with slam_toolbox for autonomous navigation and mapping of TurtleBot3 burger
Used tools:
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slam_toolbox
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actionlib
What is Yamauchi's Frontier Detection(YFD, DFD): https://faculty.iiit.ac.in/~mkrishna/YamauchiFrontier.pdf What is Fast Frontier Detection (FFD): https://www.researchgate.net/publication/221456688_Fast_Frontier_Detection_for_Robot_Exploration
Results of autonomous navigation and mapping with DFD (Yamauchi):
Results of autonomous navigation and mapping with FFD (debug pictures on):
Results of autonomous navigation and mapping with FFD on the same map as DFD(debug pictures off):