Sharing of exploring information using belief measure for multi robot exploration

摘要

We consider the problem of sharing knowledge in multi-robot exploration. It is difficult for each robot to explore accurately because of sensor errors and dead reckoning errors. We use the belief measure as the expression of sensor values in each robot for exploring an unknown environment. Then, multiple robots share the knowledge about some targets or some obstacles of the environment considering the degree of trust for other robots. The key point of this method is that robots have not a common map, but each robot has his map for sharing exploring information. The effectiveness of our approach is demonstrated by a real experiment for the case of two mobile robots.