Simulation Of Multirobot Exploration Based On A Free Market Economy

The purpose of exploration of robot is to draw a map of unknown environment. It's the base of any other complex tasks. And take Mutirobot instead of single robot to explore the unknown environment is more effective on times and space. How to organize the multirobot while exploring is a very important area in research of robot. Multirobot exploration based on a free market economy has been proved to be an effective way of organizing robots. The free market economy defines the income function and payout function for multirobot exploration. These two functions make the robots to cooperate to finish the whole task when robots are running. According to the theory of multirobot exploration based on a free market economy, we can conclude the steps of a single robot in robots'team will take while executing task. First, the robot gets the information of area around it, and then updates its local map by this information. Second, the robot selects a goal according to its local map. Third, the robot tries to communicate with other robots that it can connect to and to sell out the goal. Then each robot calculates the rewards that it may gain if it executes the goal by income function and payout function and then bid on the goal. Finally the goal will be taken by robot who may gain more reward, and be carried out. This paper describes the simulation of Multirobot exploration based on a free market economy and take into detail of the steps of robot will take while running. The simulation was finished by multithread technology on a single computer. This emulator is easier to configure and in lower need of hardware compare to simulate using several computers.