Yan Xiangda, Zeng Zhe, He Keyan, Hong Huajie
Laboratory of Unmanned Combat Systems, National University of Defense Technology, Changsha, China.
Rescue & Salvage Department, Navy Submarine Academy, Qingdao, China.
Front Neurorobot. 2023 Jun 5;17:1179033. doi: 10.3389/fnbot.2023.1179033. eCollection 2023.
Cooperative autonomous exploration is a challenging task for multi-robot systems, which can cover larger areas in a shorter time or path length. Using multiple mobile robots for cooperative exploration of unknown environments can be more efficient than a single robot, but there are also many difficulties in multi-robot cooperative autonomous exploration. The key to successful multi-robot cooperative autonomous exploration is effective coordination between the robots. This paper designs a multi-robot cooperative autonomous exploration strategy for exploration tasks. Additionally, considering the fact that mobile robots are inevitably subject to failure in harsh conditions, we propose a self-healing cooperative autonomous exploration method that can recover from robot failures.
协作自主探索对于多机器人系统来说是一项具有挑战性的任务，它可以在更短的时间或路径长度内覆盖更大的区域。使用多个移动机器人进行未知环境的协作探索可能比单个机器人更高效，但在多机器人协作自主探索中也存在许多困难。多机器人协作自主探索成功的关键在于机器人之间的有效协调。本文针对探索任务设计了一种多机器人协作自主探索策略。此外，考虑到移动机器人在恶劣条件下不可避免地会出现故障，我们提出了一种能够从机器人故障中恢复的自愈协作自主探索方法。
