SoftServeSAG / ActiveSlamTest

Repository is for the testing of active slam approaches
GNU General Public License v3.0
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Explore hidden areas at first #9

Open DmytroKushnirSoftserveinc opened 5 years ago

DmytroKushnirSoftserveinc commented 5 years ago

From the active_SLAM paper : idea is to have a separate class of frontiers which are within the lidar range, but is not mapped: the usual reason is occlusion from some obstacles. As those areas are generally cheapest to explore it makes sense to search them at first. -- done

-- upd Iter 1 completed

DmytroKushnirSoftserveinc commented 5 years ago

Idea: use a shorter timeout for marking them as unreachable, as they are potentially situated at the narrow paths.
-- done

DmytroKushnirSoftserveinc commented 5 years ago

Idea: try to reach the 'oldest' "Hidden" areas at first in order to minimize the cases when you have to plan your way back to the unmapped piece of territory left behind.

DmytroKushnirSoftserveinc commented 5 years ago

Solve the problem when we have a wall on a way to close frontier (when frontier is in the other room). OR: do not mark such frontiers as hidden at all

DmytroKushnirSoftserveinc commented 5 years ago

the idea of hidden frontiers need more exploration, implemented version seems like the only helper for heuristic ranking... as opened but still underexplored area is evaluated as such; Contrary: it gives 'chained' exploration effect, but better to do it with nice heuristics. UPD: shorter distance seems to be a better solution, but still suboptimal.