An improved method for multi-robot coordinated exploration
Jie Zhao · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2010
An improved method for multi-robot coordinated exploration in unknown environments was proposed based on the Wolfram Burgard method.Three improvements were suggested.A factor reflecting the impact of repeated exploration of grid cells was added into the cost model,reducing repeated exploration of areas that waste exploration time.In order to maintain communication between robots,a factor for the impact of limits to the range of communication between robots was added to the utility model.An algorithm combining global planning with local planning was proposed to improve real time performance.Simulation results showed significant advantages over the Markov localization method.Time wasted in repeated exploration decreased significantly.Proper distances between robots were maintained,improving communication.Real time performance of the algorithm significantly improved.