Contents
1. Introduction
"rrt_exploration" is a ROS package that implements a multi-robot map exploration algorithm for mobile robots. It is based on the Rapidly-Exploring Random Tree (RRT) algorithm. It uses occupancy girds as map representations.The packgae has 5 different ROS nodes:
- Global RRT frontier point detector node.
- Local RRT frontier point detector node.
- OpenCV-based frontier detector node.
- Filter node.
- Assigner node.
