Design of multi-robot collaborative navigation and control system based on ROS and laser SLAM

摘要

Abstract Through in-depth research in the current robot field, a design scheme of cooperative navigation and control system for multiple robots based on ROS and laser SLAM is proposed. Compared with a single robot, multi-robot cooperation can improve the operation range and efficiency, and is suitable for more diversified scenarios. The system design includes multi-machine mapping, multi-machine global and local path planning, multi-machine navigation, real-time obstacle avoidance, multi-machine dynamic task assignment. Through the centralized control structure, the robot collects the lidar data in real time to build the map in real time and realizes the integration of multi-machine map building. Then, the path planning algorithm is called to plan the path. Combined with the dynamic task allocation algorithm, the efficiency of multi-robot cooperative operation is maximized and the execution experience is provided for the implementation of other similar projects.