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Autonomous Exploration

Autonomous exploration package aims to explore unknown areas faster and more efficiently by selecting the most meaningful point as the next goal point. To select the most meaningful point, we created a cost function based on 3 values: 2d map segmentation, the clustering size of the detected frontier, and the A* distance to the point. Also,To safely avoid obstacles being explored, we have created a cost map based on the obstacles explored by yolo and 2d lidar.

Install

  1. ROS-melodic
    sudo apt update
    sudo apt upgrdae
    wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic.sh
    chmod +x ./install_ros_melodic.sh
    ./install_ros_melodic.sh
    sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy \
    ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc \
    ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan \
    ros-melodic-rosserial-arduino ros-melodic-rosserial-python \
    ros-melodic-rosserial-server ros-melodic-rosserial-client \
    ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server \
    ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro \
    ros-melodic-compressed-image-transport ros-melodic-rqt* \
    ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers
  1. Tutrtlebot3 simulation pkg Turtlbot3 E-Manual
    sudo apt-get install ros-melodic-dynamixel-sdk
    sudo apt-get install ros-melodic-turtlebot3-msgs
    sudo apt-get install ros-melodic-turtlebot3
    cd ~/catkin_ws/src/
    git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
    cd ~/catkin_ws && catkin_make
  1. 2d map segmentation pkg incremental_DuDe_ROS
    sudo apt-get install libcgal-dev
    sudo apt-get install libmpfr-dev
    cd ~/catkin_ws/src/
    git clone https://github.com/lfermin77/Incremental_DuDe_ROS.git
    cd ~/catkin_ws && catkin_make
  1. autonomous_exploration
    cd ~/catkin_ws/src/
    git clone https://github.com/KimHyung/autonomous_exploration.git
    wstool update -t src
    rosdep install -y -r --from-paths ./turtlebot3_slam_3d/src --ignore-src
    cd ~/catkin_ws && catkin_make

Launch

    //1. Launch Gazebo Simulation
    roslaunch autonomous_exploration maze.launch
    //2. Launch SLAM & Rviz
    roslaunch autonomous_exploration gmapping.launch

    //3-1. Luanch autonomus exploration without yolo
    roslaunch autonomous_exploration autonomous_exploration.launch
    //3-2. Luanch autonomus exploration with yolo
    roslaunch autonomous_exploration yolo.launch
    
    *To launch autonomous_exploration with yolo, you have to set up your environment(nvidia driver, CUDA, cudnn) for YOLO(ref. https://github.com/leggedrobotics/darknet_ros)

Flowchart

Result

simulation

experiment