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Exploration planner installation and execution

Proposed exploration planner is based on the state-of-the-art Receding Horizon Next-Best-View planing (RH-NBVP), which uses a sampling-based approach to select the next best viewpoint. This planner is used in combination with Rapidly-exploring Random Trees (RRT) to generate traversable paths. Proposed exploration planner randomly samples viewpoints in the environment. It relies on a novel and efficient gain calculation based on the Recursive Shadowcasting algorithm. To determine the Next-Best-View (NBV), our planner uses a cuboid-based evaluation method that results in an enviably short computation time. To reduce the overall exploration time, we also use a dead end resolving strategy that allows us to quickly recover from dead ends in a challenging environment.

Contents

• Installation Instructions
• Launching the Exploration Planner
• Parameters and Topics
• Demo Scenario