Zusammenfassung
This paper investigates the field of exploration and
map-building with multiple cooperating mobile
robots. New and efficient exploration and mapping
technique is proposed by employing laser
scanners. The paper also aims to extend existing
exploration and mapping techniques of single robot
to multi-robot to increase the exploration
efficiency (i.e. to reduce the environment
exploration time required). The goal of the proposed
method is to have multiple mobile robots exploring a
given unknown environment as fast as possible, while
coordinating their actions and sharing their local
maps in certain time instances. In the suggested
technique, each robot is equipped with a laser
scanner that is continuously rotating to scan the
environment, and is employing a frontier-based
exploration algorithm which is important to guide
the robots during the exploration. A new factor is
introduced to enhance the performance of the
frontier-based exploration. This factor aims at
spreading robots in the environment to reduce
overlap.
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