Modified E3 exploration algorithm for unknown environments with obstacles

An efficient autonomous exploration of an unknown environment is an important task for mobile robots, which is required in many domains. This paper considers three existing exploration approaches: frontier exploration algorithm (FEA), greedy algorithm (GrA) and Ergodic Environmental Exploration algorithm (E
³
). While original E
³
deals only with empty environments, we propose a new modified version of E
³
(ME
³
A) that allows to explore environments with obstacles. FEA, GrA and ME
³
A were implemented in Robot Operating System and their performance was evaluated in Gazebo simulator within 18 different environments. We employed a total travelled distance and a percentage of explored environment as a comparison criteria.