Determination of exploration target based on belief measure in multi-robot exploration

Abstract

Multi robot exploration is received much attention in various fields. Some research works of multi-robot exploration have studied. We have also proposed a sharing method between robots in multi robot exploration. In our method, the belief measure is used as the explored information in each robot. Then, each robot has grid maps for storing explored information and for sharing information explored by other robots. However, each robot moves randomly and cannot explore efficiently. Therefore, this paper deals with a determination method of exploring points in multi robot exploration. In this method, each robot can determine exploring points considering the belief measures. The key point of this method is that robots have not a common map and determine exploring points independently. The effectiveness of our approach is demonstrated by a real experiments with two mobile robots.