Leo Explore: The Reconnaissance Bot .

Abstract:

The Reconnaissance Bot is an advanced autonomous navigation system designed to explore and map unknown environments. Utilizing a sophisticated navigation stack based on frontier exploration, it integrates Simultaneous Localization and Mapping (SLAM) to gather essential spatial information. The system consists of three key modules: the Frontier Server, which uses K-means clustering to identify unexplored regions; the Global Planner, which optimizes paths using an adapted A-star algorithm; and the Local Planner, employing a Model Predictive Path Integral (MPPI) method for obstacle-aware motion. Motivated by the need for autonomous systems to safely navigate hazardous or inaccessible areas, the Reconnaissance Bot has been successfully tested on the TurtleBot3 Burger platform, showcasing its potential for real-world applications such as disaster response and military reconnaissance.