Development and Implementation of a Multi-robot System for Collaborative Exploration and Complete Coverage

摘要

Multi-robot research has significant progress in many aspects. Recently, it tends to reduce the time task type such as disaster relief and exploration. Multi-robots in large environments and on the factory side are mainly planned for dispatch tasks. This paper proposes two cost functions and a multi-robot complete coverage algorithm. This provides a path to keep a robot moving forward at a target point with more area gain. It enables the robots to completely cover an unknown large-scale environment in a short period of time, and effectively reduce the over-repetition path that has been explored by other robots. Our approach is validated using a simulation platform with experimental results performed under complex environments.