Distributed multi-robot potential-field-based exploration with submap-based mapping and noise-augmented strategy
| Autor: | Pongsirijinda, Khattiya, Cao, Zhiqiang, Bhowmik, Kaushik, Shalihan, Muhammad, Lau, Billy Pik Lik, Liu, Ran, Yuen, Chau, Tan, U-Xuan |
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| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1016/j.robot.2024.104752 |
| Popis: | Multi-robot collaboration has become a needed component in unknown environment exploration due to its ability to accomplish various challenging situations. Potential-field-based methods are widely used for autonomous exploration because of their high efficiency and low travel cost. However, exploration speed and collaboration ability are still challenging topics. Therefore, we propose a Distributed Multi-Robot Potential-Field-Based Exploration (DMPF-Explore). In particular, we first present a Distributed Submap-Based Multi-Robot Collaborative Mapping Method (DSMC-Map), which can efficiently estimate the robot trajectories and construct the global map by merging the local maps from each robot. Second, we introduce a Potential-Field-Based Exploration Strategy Augmented with Modified Wave-Front Distance and Colored Noises (MWF-CN), in which the accessible frontier neighborhood is extended, and the colored noise provokes the enhancement of exploration performance. The proposed exploration method is deployed for simulation and real-world scenarios. The results show that our approach outperforms the existing ones regarding exploration speed and collaboration ability. Comment: This paper has been accepted by Robotics and Autonomous Systems |
| Databáze: | arXiv |
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