Study of Unknown Environments Exploration Techniques Based on ROS-Enabled Omnidirectional Mobile Robot
Djaidja Djabir, Besseghieur Khadir, Abdelkrim Nemra, Boukouira Zineddine, Dellali Rihem · Proceedings of the International Conference of Control, Dynamic systems, and Robotics · 2025
Autonomous exploration of unknown environments is a critical aspect of robotics, enabling robots to navigate and map uncharted areas without human intervention.This research focuses on various exploration techniques, with particular emphasis on those that allow robots to autonomously generate environmental maps.Among classical methods, frontier-based exploration plays a key role by guiding robots to previously unexplored regions using knowledge of already mapped areas.Additionally, sampling-based approaches such as Rapidly-exploring Random Trees (RRT) offer effective strategies for path planning in complex, high-dimensional spaces.This paper reviews and analyzes these exploration techniques, highlighting their strengths and limitations within the context of autonomous robot navigation.The goal of this work is to compare two prominent exploration techniques-frontier-based exploration and Rapidlyexploring Random Trees (RRT)-in the context of autonomous robotic mapping of unknown environments.By evaluating their respective strengths and limitations, this study aims to clarify the conditions under which each method is most effective and to inform the selection of exploration strategies for practical robotic applications.