ntnu-arl/gbplanner_ros
Graph-based Exploration Planner for Subterranean Environments
What it solves
This project provides a graph-based exploration planner for robots, specifically designed for autonomous exploration of complex, unknown environments such as subterranean spaces. It enables robots to navigate and map unknown areas without prior knowledge of the layout.
How it works
The planner uses a graph-based approach to determine the optimal path for exploration. It is compatible with ROS (Robot Operating System) and integrates with Octomap for 3D mapping. It supports both aerial and legged robots, allowing them to deploy independently or as part of a team to map an unknown environment.
Who it’s for
This software is intended for robotics researchers and developers working on autonomous navigation, subterranean exploration, and multi-robot systems.
Highlights
- Supports both aerial and ground/legged robots.
- Integrated with ROS and Octomap for 3D mapping.
- a single robot or a team of robots running the planner independently.
- Proven in the DARPA Subterranean Challenge Final Event using ANYmal C legged robots.
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