Information Entropy-assisted Hierarchical Framework for Unknown Environments Exploration

Introduction

1. Related Paper

2. Authors

3. Cite

How to use

Note: This project has been tested in Ubuntu 20.04 (ROS Noetic), and following dependencies are based on ROS Noetic. If your ROS version is not ROS Noetic, replace noetic with your ROS version name.

1. Basic Dependency

sudo apt-get install ros-noetic-navigation \
ros-noetic-octomap-*

pip3 install pyquaternion opencv-python

2. Simulation Environment

The project is run under the autonomous exploration framework provided by Robotics Institute from Carnegie Mellon University.

sudo apt update
sudo apt install libusb-dev

git clone https://github.com/HongbiaoZ/autonomous_exploration_development_environment.git
cd autonomous_exploration_development_environment
git checkout noetic
catkin_make