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Rover exploration

A differential-drive rover with a 240° laser scanner explores a floor plan it has never seen. Each scan clears the fog of war; frontiers mark where seen free space meets the unknown. The run is done when no frontier is left.

Explored: 0 %
Status: Exploring
Driven: 0.0 m
Time: 0:00

Controller

Frontier explorer Plans the shortest drive through known free space to a spot where its laser can see into the unknown behind a frontier, follows the path with pure pursuit, and drives home once no frontier is left. Reactive (2013)

Simulation Speed 4× Laser beams 241

Frontier
Laser scan and plan
Trail
Home

0 frontier clusters reachable. The explorer drives, through free space it has seen and with room for its body, to the nearest spot with a clear view into the unknown behind one, and looks round once there; the rare spot that still stays hidden is crossed out. Switch to the 2013 controller to compare: it found the nearest frontier too, but only drew an arrow to it; its steering never used it.