Mobile Robot Autonomous Exploration Method with Improved Weighted Centroid and Multi-Objective Optimization

The frontier based exploration method is a traditional and direct method, which has the problems of redundancy of sensor observation range and simple frontier point selection rule. Based on the traditional frontier exploration, the process of identifying the frontier centroid points is improved, and the weight of each point is applied to represent the importance of different points to the exploration. Secondly, in view of the shortage of the traditional greedy strategy, the cost of avoiding obstacles and other factors are comprehensively considered, so as to adapt to a more complex environment. The experimental results show that the proposed method has high exploration efficiency and can complete the environment construction independently.