A two-robot collaborative exploration approach for unknown environments

Cheng Xu; Chao Chen; Xin Tong

doi:10.1117/12.2684723

19 October 2023 A two-robot collaborative exploration approach for unknown environments

Cheng Xu, Chao Chen, Xin Tong

Proceedings Volume 12709, Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023); 1270962 (2023) https://doi.org/10.1117/12.2684723
Event: Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023), 2023, Nanjing, China

Abstract

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

Citation Download Citation

Cheng Xu, Chao Chen, and Xin Tong "A two-robot collaborative exploration approach for unknown environments", Proc. SPIE 12709, Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023), 1270962 (19 October 2023); https://doi.org/10.1117/12.2684723

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