多机器人的改进型边界探索算法

针对多机器人探索未知环境问题,提出了改进型边界探索算法。该算法综合考虑边界角度和距离两种因素,引入分散机制,使机器人团队协同工作,避免出现拥挤,减少探索过程中的重复覆盖和路径交叉现象。基于与其他方法的实验比较结果表明,该探索方法使多机器人具有更好的团队协作能力,提高了探索效率。

To study the cooperating method of multi-robot in exploration,an improved frontier-based exploration algorithm(IFBE) is proposed.Applying in unknown environment exploration with multi-robot teams,this method integrates both orientation and distance of the frontiers and introduces the distribution mechanism so as to coordinate multi-robot's behaviors,avoid the collision of the multi-robot and reduce the repeated coverage and path crossover.Simulation results show that this method has a better coordination capability for multi-robot teams and improves the explorative efficiency of a multi-robot team.

国家“863”高技术研究发展计划;;沈阳机器人学国家重点实验室资助课题