Omni-Explorer: A Rapid Autonomous Exploration Framework With FOV Expansion Mechanism
提出一种快速自主探索框架，通过1自由度视场扩展机制和前沿引力方向规划，将传感器视场方向与机器人速度方向解耦，结合PCA快速前沿视点生成和滑动窗口TSP全局路径规划，在仿真和真实场景中减少30%-44%探索时间并提升运动连续性。
Autonomous exploration is a fundamental challenge for numerous applications of mobile robots. Traditional methods often lead to impractical and discontinuous trajectories, which may substantially deteriorate the exploration time. In this work, we propose a rapid autonomous exploration framework with a field-of-view (FOV) expansion mechanism. We present a 1-degree-of-freedom (DOF) FOV expansion mechanism, coupled with a frontier-gravitation FOV direction planning method to decouple the direction of the sensor's FOV from the robot velocity direction. Our approach includes a rapid frontier viewpoint generation method utilizing principal component analysis (PCA). Moreover, we introduce a sliding window travelling salesman problem (TSP) for global coverage path planning, incorporating an attenuation coefficient to increase the exploration priority of independent small frontiers and reduce revisit probability. Finally, compared to state-of-the-art (SOTA) approaches, our proposed mechanism and framework beneficially reduce exploration time by 30%-44% and enhance the continuity of the robot movement in both simulation and real-world scenarios.