Fast Sampling-based Next-Best-View Exploration Algorithm for a MAV
Victor Massagué Respall Dmitry Devitt Roman Fedorenko Alexandr Klimchik Victor Massagué Respall Dmitry Devitt Roman Fedorenko Alexandr Klimchik
In this work, we present a new exploration algorithm for Micro Aerial Vehicles (MAVs). The planner uses a combination of Next-Best-View (NBV) sampling and frontier-based approaches to reduce the impact of finding unexplored areas in large scenarios. For each sampled point, the yaw angle is optimized to maximize the potential gain for mapping. The gain is expressed as a ratio between the exploratio...