The present invention discloses a method,
system, device and storage medium for autonomous collaborative exploration of an unknown environment by multiple intelligent agents, which belongs to the field of intelligent unmanned technology. The method comprises the following steps: obtaining a first boundary
point set obtained by exploration based on a fast
random tree strategy and sending the first boundary
point set to a
mean shift clustering module, calculating the center point of the cluster, and using the set of center points as a second boundary
point set; filtering the second boundary point set by using an
information gain function and an obstacle boundary point filter; calculating the benefit of each
intelligent agent after reaching the remaining boundary points,
processing the benefit by using a discount strategy, and then adding a
hysteresis gain to obtain the total benefit of each
intelligent agent after reaching each boundary point, subtracting the cost from the total benefit with the
Euclidean distance from the
intelligent agent to the boundary point as the cost, obtaining the total benefit of each intelligent agent reaching each boundary point, allocating the boundary point corresponding to the maximum value of the total benefit of the intelligent agent to the intelligent agent, and performing autonomous collaborative exploration of the unknown environment after the allocation is completed. The present invention reduces the amount of calculation and improves the operation efficiency and robustness.