Design And Implementation Of Multi-Robot Collaborative Mapping System Based On ROS

In recent years,multi-robot collaborative exploration of the environment has become a popular research topic in the field of mobile robots.The main task of multi-robot collaborative exploration is to obtain and integrate parameter information of unknown environments through sensors for multiple robots to complete grid map construction.Robots can complete other complex tasks efficiently and accurately only when they are fully aware of the working environment and obtain an accurate grid map.Compared with single-robot tasks,multi-robots have higher efficiency and stronger robustness when constructing maps and exploring the environment,but there are also problems such as high repetition rate of map exploration and unclear robot task assignments.This paper mainly studies the methods and problems involved in the multi-robot map construction.The paper first discusses the development status of the development of mobile robot platforms and multi-robot collaborative exploration,and analyzes the advantages and disadvantages of various collaborative map construction methods.Then,in response to the requirements of mobile robots for multi-robot synergistic exploration system,the construction method of ROS-based mobile robot platforms was proposed.The robot completed the construction and motion planning of the grid map in the upper machine,and sent the motion data to the module to the communication module to the module to the module to the module to the module to the module to send the motion data to the module to the motion data to The lower machine,the lower machine completes the control of the motor,and realizes the robot’s independent positioning and map construction function.This article explores that the random tree is too huge at the later period of the traditional fast search random tree algorithm map exploration,and the exploration boundary is too slow to optimize the reverse search method to complete the simplification of the random tree;the exploration of the map is too random on the map.The question is processed by the border point according to the average drift algorithm,and the depth of the genetic cluster centers is further processed to obtain a complete unknown boundary use of the generated border cluster centers.In response to the repeated exploration of the same area during the multi-machine exploration process,based on the market law,the dynamic distribution strategy is used to design the task allocation module to achieve dynamic distribution of the target point of the robot movement,and reduce the total route of robotics in the system;In response to the problem of map fusion,a map fusion module was designed to complete the stitching of local maps of the robot;in response to the noise problem in the global map,the use of image morphology was further processed by the fusion map,solving the problem of invalid target points,and the final event was also made.The global map is more accurate.Finally,aiming at the working environment of multi-robot collaborative exploration,the multirobot collaborative exploration and map construction systems in simulation and actual scenarios were respectively built.In these scenarios,different methods were used to conduct collaborative exploration experiments,and the experimental results were recorded and analyzed.analyze.The experimental results show that the multi-robot collaborative exploration method proposed in this paper improves the exploration efficiency by 33.06% compared with a single robot,and the power consumption of each mobile robot to complete the exploration is also reduced;the method proposed in this paper can effectively solve the traditional multi-robot exploration method.The problem is that the improvement effect is more obvious when exploring complex environments,the exploration time is reduced by 22.27%,and the robot’s exploration distance is also reduced by 37.5%.Finally,the system is deployed in the real environment,and it can also complete the exploration of the unknown environment well,which verifies the feasibility and efficiency of the proposed method.