Multi-robots Path Planning and Mapping for Exploring Unknown Environment

摘要

This study focuses on improving multi-robots path planning and mapping efficiency for exploring unknow environment. By improving the conventional exploration algorithm based on frontier to adapt to multi-robot systems, the robots will explore different areas and dynamically fuse individual maps generated by each robot into a comprehensive global map. The study introduces a unique joint path planning mechanism for each robot, enabling dynamic optimization of exploration target points and minimizing redundant exploration. The improved approach significantly reduces exploration time and collision incidents, as demonstrated by experiments comparing single and multiple robot exploration scenarios.