An exploration strategy based on Frontier and safe corridor for indoor flight vehicle

This paper describes an exploration and obstacle avoidance method designed to be implemented on indoor Miniature Air Vehicles (MAV) running in cluttered and confined indoor environment. The strategy can use an incremental exploring map obtained by Simultaneous Localization and Mapping (SLAM) algorithm based on the laser range finder data to plan a safe route. The 'Wall Following-Frontier Guidance' [1] strategy is difficult to achieve due to that it is not easy to control the speed of aircraft and meet the requirement of real-time. On the other hand, because of the characteristics of laser SLAM, the aircraft should be with good attitude and move to the environment which is conducive to SLAM. These problems have been effectively solved by this method in flight test on a quadrotor MAV.