Reactive Browsing and online SLAM in independent exploration based on frontiers

The development of a browsing and guiding system for an independent land robot equipped with odometry, laser, and sonar so as to avoid obstacles. The main characteristics of the system are as follows:
– Location and simultaneous mapping based on laser range and odometry (online SLAM)
– Extraction and assessment of objectives (frontiers with the unexplored zone)

– Exploration guided by reward and penalty mechanisms (maximisation of the amount of information expected)
– Planning the multi-parametric multi-objective route

– Reactive browsing based on the perception of the robot in real time