Autonomous Exploring Map and Navigation for an Agricultural Robot

Abstract

In this paper, the robot is exploring and creating a map of the environment for autonomous navigation. Exploration forms an important role in creating the map and locating the obstacles for path planning. Autonomous Frontier Based Exploration is implemented on both hardware and software of the Turtlebot3 Burger platform. For Simultaneous Localization and Mapping (SLAM), the Breadth-First Search (BFS) algorithm is used. The path planning uses the A * algorithm for the global planning and for local planning uses the Dynamic Window Approach (DWA). The software used in this work is Ubuntu 18.04, along with ROS Melodic on virtual box. This is a work in progress, and the results will be used in further research work for autonomous monitoring of the agricultural fields.