Multi-robot map exploration method based on rapidly-exploring random tree

A multi-robot, robot technology, applied in instruments, motor vehicles, two-dimensional position/channel control, etc., can solve problems such as scattered network influence, and achieve the effect of improving efficiency, avoiding repeated exploration, and improving reliability

Active Publication Date: 2019-09-10
FUZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, delays in the exchange of information between bot

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  • Multi-robot map exploration method based on rapidly-exploring random tree
  • Multi-robot map exploration method based on rapidly-exploring random tree
  • Multi-robot map exploration method based on rapidly-exploring random tree

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0043] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The invention relates to a multi-robot map exploration method based on a rapidly-exploring random tree. The method comprises the following steps of step 1, detecting boundary points by using a boundary detector based on the RRT (Rapidly-Exploring Random Tree) including a global boundary detector and a local boundary detector; step 2, filtering the obtained boundary points, that is, removing the detected boundary points and clustering some dense boundary points, and then storing the filtered boundary points in a boundary point list; step 3, assigning specific boundary points to a robot with thehighest profit by calculating the costs and benefits by using a multi-robot task allocation strategy based on the market economy according to the positions of each boundary point and the robot, so that a local map of the robot is established; and step 4, sharing and integrating map information obtained by each robot through network communication to get a final map. The multi-robot map explorationmethod based on the rapidly-exploring random tree provided by the invention can overcome the defects of the prior art and guide multiple robots to independently explore the unknown environment and establish an environmental map.

Description

technical field [0001] The invention relates to the field of industrial mobile robot design, in particular to a multi-robot map exploration method based on fast-exploration random tree. Background technique [0002] Robots actively explore unknown environments and construct environmental maps, which is of great significance for mobile robots to achieve autonomous navigation. Autonomous exploration is about extending the area of ​​exploration out of the environment while maximizing map accuracy. Different map exploration methods have been proposed depending on different tasks or available hardware such as mobile robot platforms. Exploratory locomotion of mobile robots can be achieved by using predetermined path plans, navigation graphs, or boundary-based exploration. One of the difficulties in map construction is that in the process of automatically exploring the unknown environment, the robot's actions must be planned to collect more environmental information and avoid con...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D2201/0217
Inventor 张立伟王杰林志彬何炳蔚陈彦杰林立雄
Owner FUZHOU UNIV
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