Multi-Robot System for Mapping and Localization

摘要

In this work, we developed algorithm for coordinated multi-robot system. It is developed for simultaneous localization and mapping (SLAM). Many novel applications of multi-robot system especially, in the industrial indoor environment and complex/dangerous environment are being envisioned. The proposed algorithm focuses on optimizing navigation and execution of tasks within an environment. We used TurtleBot3 Waffle model and robot operating system (ROS) platform and simulated in Gazebo for localization, navigation and comprehensive coverage. The algorithm achieves effective mapping, localization, navigation, and coverage. Algorithm also ensures seamless coordination among multiple robots within a unified transform-tree (tf-tree) facilitating synchronized movement and a holistic understanding of the environment. Furthermore, an innovative coverage path planning and submap division is achieved using this technique. It is expected that such development would lead to practical applications in the real environment.