Good Frontier Exploration #1255
Description
Current Frontier Exploration algo jumps across the map to random unexplored places. so robot expores 1 meter, then has to walk to the other side of the building to explore 1 meter, then goes back etc.
Yet if you just place a target outside of the reachable space, and A* is allowed to try and path through unknown space, A* starts optimally exploring
Proposed Solution:
- Place a target in an unexplored area on the map boundary - if reached, place another also on the map boundary, but slightly rotated with regards to map center.
Profit - In a room target will end up outside of the wall, and A* will explore all.
In perfectly empty space, robot explores in a spiral, since we are placing targets slightly rotated once reached