This thesis presents a 3D autonomous exploration framework for UAVs in unknown indoor environments. It utilizes a custom frontier-based exploration algorithm and a hierarchical planning architecture consisting of global and local planners. Also, a 3D occupancy grid, built with OctoMap, provides the spatial representation required for autonomous navigation and avoid obstacles. The entire framework is implemented with ROS 2 and PX4, and is validated by simulation with stable and repeatable results.
This thesis presents a 3D autonomous exploration framework for UAVs in unknown indoor environments. It utilizes a custom frontier-based exploration algorithm and a hierarchical planning architecture consisting of global and local planners. Also, a 3D occupancy grid, built with OctoMap, provides the spatial representation required for autonomous navigation and avoid obstacles. The entire framework is implemented with ROS 2 and PX4, and is validated by simulation with stable and repeatable results.
DESIGN OF AUTONOMOUS EXPLORATION TECHNIQUES IN UNKNOWN ENVIRONMENTS FOR UNMANNED AERIAL VEHICLES
COCCIA, LEONARDO
2024/2025
Abstract
This thesis presents a 3D autonomous exploration framework for UAVs in unknown indoor environments. It utilizes a custom frontier-based exploration algorithm and a hierarchical planning architecture consisting of global and local planners. Also, a 3D occupancy grid, built with OctoMap, provides the spatial representation required for autonomous navigation and avoid obstacles. The entire framework is implemented with ROS 2 and PX4, and is validated by simulation with stable and repeatable results.| File | Dimensione | Formato | |
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Tesi_Leonardo_Coccia.pdf
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Descrizione: Documento definitivo tesi di laurea
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17.06 MB | Adobe PDF |
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https://hdl.handle.net/20.500.14253/69779