A Method for Multi-robot Cooperative Exploration

Abstract

The invention discloses a multi-robot coordinated exploration method, and relates to the multi-intelligent robot system technical field; the method comprises the following steps: a robot system comprises at least two robots, employs a zig-zag type mobile track to scan a to-be-explored area according to a predicate logical reasoning rule, and builds an environment model according to the scan information. The method uses the logical reasoning rule to realize coordinated control of the robots, uses the zig-zag type mobile track auxiliary direction for realizing exploration, and uses the main direction for selecting an exploration task and coordinating the robots, thus converting coordination in the 2D space into coordination in the one-dimensional space; the robot system is divided into a plurality of subsystems, thus using less rules to realize a bigger scale of multi-robot system coordination, simplifying the coordination work computing, and reducing the field coordination strategy modification difficulty.

Description

technical field [0001] The invention relates to technical fields such as distributed artificial intelligence and multi-intelligent robot systems, and in particular to a method for multi-robot collaborative exploration. Background technique [0002] A multi-robot system is a group of robots composed of multiple homogeneous or heterogeneous robots to complete a common task. , optimality, robustness, scalability and other aspects have shown great advantages, and have good application prospects in military, industrial production, traffic control and other aspects. However, the coordination strategy calculation of the existing multi-robot system collaborative operation is complicated, the hardware configuration requirements for each robot computing unit are high, and the software structure is complex, which virtually increases the cost of the multi-robot system; The strategies distributed in the environment are all locally scattered, resulting in low exploration efficiency; espe...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the technical problems of the existing multi-robot system collaborative operation task assignment and other process calculation complexity, and the difficulty of modifying the coordination strategy on the spot, we now provide a multi-robot collaborative exploration method that is designed to be simple in calculation, has human-like thinking, and reduces the difficulty of coordination strategies. method

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