A Rule-based Cooperative Exploration Method for Dual Robots in Unknown Environment
Zeya Zhu, Xie Jun, Zhi Wang · 2019
Aiming at the problem about disaster relief under the situation of unknown environment and unknown target orientation, a set of rules for mobile robot autonomous search and map navigation is formulated. Firstly, the mobile robot attempts to read the map of the environment. If it fails, the robot searches for the target according to the wall-touching algorithm in the unknown environment and utilizes the improved RBPF-SLAM algorithm to implement the map computation. When the map is successfully read, the robot moves along the optimal path planned by A* algorithm. Meanwhile, dynamic window approach is used for dynamic local path planning for the unknown environment which changes indefinitely. Finally, the simulation experiment is carried out to verify the practicability and validity of the set of rules.