Mechanism and Strategy of Multi-robot Coordination for Exploring Unknown Environments

摘要

The coordination of robots is the key of effective task for multi-robot system.Kernel problems of Multi-robot coordination are task allocation and task administration.In order to handle exploring unknown environments,this paper presents a mechanism of multi-robot coordination and a Time-efficiency Curve of measuring multi-robot coordination capacity.Simulation experiments show that,in our strategy,the exploring time is inversely proportional to the number of robots,and this relationship remains in various environments.Also,system planning can run in real-time.