A two-robot collaborative exploration approach for unknown environments
Cheng Xu, Chao Chen, Xin Tong · 2023
A two-mobile robot collaborative autonomous exploration method is proposed for map exploration and target search in unknown environments. The method first uses a boundary exploration strategy based on the RRT algorithm to achieve autonomous movement of the first mobile robot, while using the Gmapping-SLAM algorithm to complete the map construction, then the second robot subscribes to the completed map based on the ROS distributed communication method, and then sets the target location for it. The robot uses the A* algorithm in combination with the TEB algorithm to plan the path and navigate to the target location. Finally, the practicality and effectiveness of the exploration strategy is verified through simulation experiments