Exploration and Coverage Path Planning of Unknown Environment using Multi-Robot System

摘要

This research paper delves into the intricacies of efficient environment exploration and coverage path planning using multi-robot systems. With a focus on unknown environments, the study addresses the mapping of the environment in 2D, distributing coverage tasks among robots, and coordinating their movements for comprehensive coverage. Various strategies are explored, including Simultaneous localization and mapping (SLAM) using G-mapping, dynamic task distribution, waypoint generation, and coordination mechanisms. Leveraging the collective intelligence of multiple robots, this work aims to optimize coverage while minimizing redundancy and resource consumption. Through simulations and analysis, the effectiveness of the proposed methodology is demonstrated with a coverage efficiency of 98.9%, highlighting the potential of multi-robot system in revolutionizing exploration and coverage path planning in diverse real-world applications.