@inproceedings{6876b291be3f43d1afdbcc30dec8e440,
title = "Autonomous UAV Exploration in Unknown Environments Using Octomap",
abstract = "Autonomous exploration is an important method for obtaining the environment map. In this paper, we propose an autonomous unmanned aerial vehicles (UAVs) exploration method in unknown environments using octomap. Firstly, a frontier detection algorithm based on octomap is proposed to increase detection efficiency. Secondly, we propose a hybrid frontier clustering method combining DBSCAN and k-means for viewpoint generation. Thirdly, an asymmetric travelling salesman problem is formulated for exploration path planning. Finally, we evaluate our method in two types of scenes in the simulation environment. The simulation results show that our method can achieve autonomous exploration of 1000 m3 space within 412 s and build a fine map efficiently.",
keywords = "Active Perception, Exploration, Path Planning, UAV",
author = "Pei Chi and Jiahong Wei and Jiang Zhao and Yingxun Wang",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; International Conference on Guidance, Navigation and Control, ICGNC 2024 ; Conference date: 09-08-2024 Through 11-08-2024",
year = "2025",
doi = "10.1007/978-981-96-2212-2\_36",
language = "英语",
isbn = "9789819622115",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "357--365",
editor = "Liang Yan and Haibin Duan and Yimin Deng",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 4",
address = "德国",
}