This project addresses the subproblem of efficiently exploring unknown environments using RRT-SLAM to obtain a well-defined map. The algorithm identifies target points yielding the biggest contribution to a specific gain function at an initially unknown algorithm. Using which, it can efficiently search non-convex, high dimensional spaces by randomly drawing samples from the search space and building a space-filling tree that is inhertly biased to grow towards large unsearched areas.
- Ubuntu 18.04 LTS
- ROS Melodic
- Gazebo
- RViz
Navigate to the ROS package in the catkin_ws folder
$ catkin_make
$ source devel/setup.bash
roslaunch explore_env turtlebot_gazebo.launch