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Exploring Unknown Environments Via Distributed Multi-Robot Systems

For exploring unknown environments, a multi-robot system presents distinct advantages over a single robot. This paper delves into exploration methodologies using a distributed multi-robot system as its foundation. Firstly, a consensus update algorithm is introduced, enabling robots to share a unifie...

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Bibliographic Details
Main Authors: Lv, Xiaodie, Yue, Qi, Chu, Jing
Format: Conference Proceeding
Language:English
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Summary:For exploring unknown environments, a multi-robot system presents distinct advantages over a single robot. This paper delves into exploration methodologies using a distributed multi-robot system as its foundation. Firstly, a consensus update algorithm is introduced, enabling robots to share a unified global coordinate system, thereby significantly reducing the computational burden during localization through map fusion methods. Secondly, task allocation among multiple robots is optimized, enhancing their efficiency in selecting target points. Additionally, a collaborative exploration strategy is proposed to address the issue of reduced exploration efficiency due to path redundancy among multiple robots. Finally, a series of experiments was conducted using a simulation platform built on Matlab. The experimental results demonstrate the effectiveness of the proposed exploration method in deploying robots within the environment and accomplishing exploration tasks swiftly and efficiently.
ISSN:1934-1768
DOI:10.23919/CCC63176.2024.10661726