Documentation Status

hector_navigation: hector_costmap | hector_elevation_mapping | hector_elevation_msgs | hector_elevation_visualization | hector_exploration_controller | hector_exploration_node | hector_exploration_planner | hector_path_follower

Package Summary

Documented

hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments

hector_navigation: hector_costmap | hector_driving_aid_markers | hector_elevation_mapping | hector_elevation_msgs | hector_elevation_visualization | hector_exploration_controller | hector_exploration_node | hector_exploration_planner | hector_path_follower

Package Summary

Documented

hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments

hector_navigation: hector_costmap | hector_driving_aid_markers | hector_elevation_mapping | hector_elevation_msgs | hector_elevation_visualization | hector_exploration_controller | hector_exploration_node | hector_exploration_planner | hector_path_follower

Package Summary

Documented

hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments

hector_navigation: hector_costmap | hector_driving_aid_markers | hector_elevation_mapping | hector_elevation_msgs | hector_elevation_visualization | hector_exploration_controller | hector_exploration_node | hector_exploration_planner | hector_path_follower

Package Summary

Documented

hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments

Package Summary

Documented

hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments

Package Summary

Documented

hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments

Package Summary

Documented

hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments

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Documentation

This package provides a planner that generates both goals and associated paths for the exploration of unknown environments. The package does not provide a ROS node, but a library that can be used inside a ROS node. A simple usage example is implemented in the hector_exploration_node package.

Video of use of the exploration planner in a real-world RoboCup Rescue scenario:

Video of use of the exploration planner in a simulated RoboCup Rescue scenario:

References

An overview can also be obtained from the following paper (available here):

@INPROCEEDINGS{2013:RoboCup,
  author = {S. Kohlbrecher and J. Meyer and T. Graber and K. Petersen and O. von Stryk and U. Klingauf},
  title = {Hector open source modules for autonomous mapping and navigation with rescue robots},
  year = {2013},
  pages = {to appear},
  publisher = {Springer},
  series = {Lecture Notes in Artificial Intelligence (LNAI)},
  booktitle = {Proc. RoboCup Symposium 2013},

The exploration approach used is based on the following paper (available here):

@inproceedings{wirth2007exploration,
  title={Exploration transform: A stable exploring algorithm for robots in rescue environments},
  author={Wirth, S. and Pellenz, J.},
  booktitle={Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on},
  pages={1--5},
  year={2007},
  organization={IEEE}
}

Wiki: hector_exploration_planner (last edited 2014-04-15 09:27:29 by StefanKohlbrecher)