Distributed multi-robot potential-field-based exploration with submap-based mapping and noise-augmented strategy
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arXiv
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| Hauptverfasser: | , , , , , , , |
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| Format: | Preprint |
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2024
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| author | Pongsirijinda, Khattiya Cao, Zhiqiang Bhowmik, Kaushik Shalihan, Muhammad Lau, Billy Pik Lik Liu, Ran Yuen, Chau Tan, U-Xuan |
| author_facet | Pongsirijinda, Khattiya Cao, Zhiqiang Bhowmik, Kaushik Shalihan, Muhammad Lau, Billy Pik Lik Liu, Ran Yuen, Chau Tan, U-Xuan |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_07409 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed multi-robot potential-field-based exploration with submap-based mapping and noise-augmented strategy Pongsirijinda, Khattiya Cao, Zhiqiang Bhowmik, Kaushik Shalihan, Muhammad Lau, Billy Pik Lik Liu, Ran Yuen, Chau Tan, U-Xuan Robotics 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. |
| title | Distributed multi-robot potential-field-based exploration with submap-based mapping and noise-augmented strategy |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.07409 |