Dual-Robot Occupancy Grid Map Merging: A Study on Warehouse Simulation

In structured and complex environments such as warehouses, the possibility of the robots moving around is based on the existence of accurate and detailed maps. This paper proposes a concept for the integration of occupancy grid maps created by two robots consisting in a singular and detailed picture of the surroundings. One such topic is occupancy grid map which is created by each of the two robots that identify know, occupied, and unknown territory and posted on separate, relevant ROS2 topics. To have a complete picture of the environment, the map’s boundary coordinates are computed, and every individual map grid is copied as a coordinate system that is then translated to the merged images. One map is used as a prominent source, but other maps are permitted to help fill voids in the primary map so that a consolidated, complete occupancy grid map is produced and distributed on ROS2 topic /merge_map. The final unified map facilitates better coordination between the robots and navigation, including better exploration within the warehouse.