Research on the method of multi-robots autonomous collaborative map construction in unknown environment

Abstract

Aiming at the problem of map construction in unknown environment, a multi-robots autonomous collaborative map construction method is proposed, including autonomous search method and map construction method. Firstly, in order to avoid repeated search of the same area by different robots, an optimal multi-robots deployment algorithm based on the Voronoi diagram of the center of mass is proposed. During the movement, the robots use the dynamic window method for local path planning to avoid obstacles. Secondly, in order to grasp the global map information of the unknown environment, a map fusion algorithm based on Hough peak matching is used to fuse the sub-maps of multi-robots. Finally, the proposed collaborative map construction method is simulated in ROS simulation environment, and the effectiveness and practicability of the proposed method has been proved.