The Sensor-based Random Graph Method for Cooperative Robot Exploration

被引：81

作者：

Franchi, Antonio ^{[1
]}

Freda, Luigi ^{[1
]}

Oriolo, Giuseppe ^{[1
]}

Vendittelli, Marilena ^{[1
]}

机构：

[1] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, I-00185 Rome, Italy

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2009年 / 14卷 / 02期

关键词：

Cooperative exploration; decentralized algorithms; multirobot systems;

D O I：

10.1109/TMECH.2009.2013617

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a sensor-based random graph (SRG). This is expanded by the robots by using a randomized local planner that automatically realizes a tradeoff between information gain and navigation cost. The nodes of the SRG represent view configurations that have been visited by at least one robot, and are connected by arcs that represent safe paths. These paths have been actually traveled by the robots or added to the SRG to improve its connectivity. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations and experiments are presented to show the performance of the proposed technique.

引用

页码：163 / 175

页数：13

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