Challenge 11: Create a smart target selection technique

Preparation

Go to your repository, return in challenge_10 (or 9) branch and create a new one:

git checkout challenge_10
cd ~/catkin_ws/src/autonomous_systems_architectures/
git checkout -b challenge_11

Task

The task is to fill the function selectTarget located here. The code existent chooses an unoccupied goal randomly. This task is about creating a more smart technique.

You can use:

• The robot's pose
• The map (e.g. the limits of the occupied / unoccupied cells)
• The coverage (e.g. if you want to perform coverage-based exploration)

Points

10 out of extra 50