Title: A new method of multi-robot cooperative exploration

Authors: Yanqing Wang; Yongquan Li; Wenjun Lu

Addresses: School of Information Engineering, Nanjing Xiaozhuang University, NanJing 211171, China ' School of Information Engineering, Nanjing Xiaozhuang University, NanJing 211171, China ' School of Information Engineering, Nanjing Xiaozhuang University, NanJing 211171, China

Abstract: This paper aims at the task of the map fusion and environmental exploration method. The multi-robot collaborative map creation is based on the local map by each individual robot, and the nodes in the local map are matched to obtain the association between multiple maps. Multi-robot task allocation is also a process of maximising the benefits of resource utilisation. How to allocate resources reasonably so that each robot can quickly complete the corresponding tasks in coordination, and how to solve the problem of the heavy tasks for individual robots or few tasks for individual robots, multitask allocation based on market law can be a solution. The new topological scene map in this paper is used to represent the environment and carry out robot exploration. It can be seen that multi-robot cooperative exploration is more efficient efficiency.

Keywords: map fusion; multi-robot cooperative exploration; topological scene map.

DOI: 10.1504/IJMIC.2022.127104

International Journal of Modelling, Identification and Control, 2022 Vol.41 No.1/2, pp.155 - 164

Received: 09 Jul 2021
Accepted: 24 Nov 2021
Published online: 22 Nov 2022 *

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