Frontier-based Autonomous Exploration for UGV

This is a collection of “Frontier-based Autonomous Exploration for UGV” projects for the course ELEC4260 (Intelligent Robots and Embodied AI) @ HKUST, 2025 Spring. Instructor: Prof. Ping TAN.

Detailed code implementation can be found in the Github code repo.

Project Overview

Implemented LiDAR-based SLAM with ICP alignment, A* path planning, Bezier-curve trajectory generation, and PID control to achieve frontier-based autonomous UGV navigation and exploration.

Sub-projects

• Project 1 - Odometry, Mapping and ICP
  • Keywords: Wheel Odometry, LiDAR, Mapping, ICP
• Project 2 - Path Planning, Control and Exploration
  • Keywords: Bezier Curve, Path Planning (A*), Control (PID), Frontier Autonomous Exploration