Research On Multi-robot Path Planning For Environment Exploration

The cooperation of multi-robot is an important part of the multi-robot system. With shorter designing period, higher stability and efficiency, better robust to environment, multi-robot system can performance better than single robot with high intelligence. But there is an excellent cooperative algorithm to coordinate tasks of robots, which can avoid interruption or collision among robots. Thus, the integrated advantages of the multi-robot system should be demonstrated.Path-planning is a main aspect of mobile robot research. Path-planning studies how robot plans a proper obstacle-avoiding path from start point to end using information of environment efficiently. Path-planning is foundation that robot perform varied tasks, and show mutual capability between surroundings and robot during the performance. Therefore, for the task of environment exploration of intelligent robot, path-planning arithmetic of multi-robot for environment exploration is presented.Firstly, the general situation of multi-robot's development and Path-planning of multi-robot are introduced. Then, motions models of multi-robot have been designed for environment exploration of multi-robot based on grip map of environment, and path-planning arithmetic of multi-robot with environment information and without environment information are presented separately. Based on Generalized Voronoi Graph and Media Axis Graph, Global path planning with Zones-Division Arithmetic with environment information is presented. Moreover, motion path of robot is optimized with Depth First Search arithmetic and the optimization path planning of multi-robot with global Exploration is solved with Dijsktra arithmetic. Dynamic terminal exploration strategy is designed without environment information. And that the paper addresses local path planning arithmetic of multi-robot with A-asterisk arithmetic and the strategy of corresponding avoidance interruption and collision. Finally, global path planning arithmetic and local path planning arithmetic of multi-robot are verified with MATLAB.