By Topic

A cooperative approach for multi-robot area exploration

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Jing Yuan ; Department of Automation, Nankai University, 300071 Tianjin, China ; Yalou Huang ; Tong Tao ; Fengchi Sun

A cooperation approach with consideration of communication limit is proposed for multi-robot area exploration, in which all the robots select local destinations satisfying the constraints on communication range and reach their destinations at the same time to communicate and fuse their map information. Firstly, the robots compute the frontier between the explored region and the unexplored one. The robots choose the optimal frontier points, which maximize information gain, minimize navigation cost and satisfy communication limit as their local destinations. Then the problem of global exploration in unknown environment is converted into that of multi-stage trajectory planning in local known environment. Collision-free, synchronous and separate trajectories are planned for all the robots to realize the limited communication at their destinations. In such a way, efficient and distributed exploration can be achieved. Simulation results are presented to show the effectiveness of our method.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010