Multi-robot cooperative exploring and mapping method with communication distances limited under unknown environments

Abstract

The invention discloses a multi-robot cooperative exploring and mapping method with communication distances limited under unknown environments, belonging to the field of intelligent robot systems. The method comprises the following steps of: (1) planning local target points satisfying the constraint of the communication distances for a plurality of robots; and (2) planning motion trails from the current positions of the robots to the local target points, that is to say, planning trails. The method provided by the invention has the beneficial effects of: not only considering the factor of a linear speed, but also fully considering the influence of an angular speed on a planning time. Under the condition that the initial attitude angles of the robots are not changed, the synchronization of the motion times of the plurality of robots are kept through computing a reasonable linear speed and the motion trails of the robots are computed through solving a differential equation so that the continuous angular speed control input of all the robots is ensured, the extra time caused by the pivot turn of each robot is prevented and the plurality of robots can arrive at the target points at thesame time. Through an increment grid clustering method provided by the invention, the clustering property is kept and the computation performance is improved.

Description

technical field [0001] The invention belongs to the field of intelligent robot systems, relates to multi-robot exploration technology, and can be used in a large-scale environment with limited communication distance. Background technique [0002] Due to its mobility, mobile robots can replace humans to perform tasks such as exploration, detection and operation in various complex or dangerous environments. After years of research and development, mobile robots have gradually become practical. In traditional fields such as manufacturing, logistics, and service industries, there have been many examples of using mobile robots to improve production efficiency or replace manual operations. In some projects of great strategic significance to the national economy, society, national defense and other fields, the demand for mobile robots is also increasingly obvious. With the continuous expansion of the scope of human activities, mobile robots have gradually played a huge role in the...

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Problems solved by technology

2) Due to the limited communication distance, it is difficult to communicate. In a large-scale environment, multi-robots usually cannot communicate anytime and anywhere, so information fusion and sharing are limited.

However, only the linear velocity factor is considered in the trajectory planning, and the robot needs to turn in situ and deflect to a certain angle before the next linear velocity input can be performed, and the time of in situ turning and the error introduced by the turning are not considered. , which leads to the fact that in real situations, it is difficult for the robot to reach the target point at the same time

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