Decentralized Strategy for Cooperative Space Exploration by Using Multi-robot System

U radu je implementirano decentralizirano višerobotsko istraživanje prostora temeljeno na Graph SLAM metodi i brzorastućim slučajnim stablima uz korištenje mobilnih robota Pioneer P3-DX. Algoritam istraživanja prostora uključuje detekciju točaka fronte temeljenu na RRT algoritmu i nadograđenu za Graph SLAM, filtriranje detektiranih točaka i dodjeljivanje ciljnih točaka robotima koristeći decentraliziranu strategiju temeljenu na market modelu koja minimizira vrijeme potrebno za istraživanje prostora. ROS navigacijski slog koristi se za planiranje i praćenje putanje. Eksperimenti su provedeni u simulacijskom okruženju.This paper presents decentralized multi-robot exploration based on Graph SLAM method and rapidly exploring random trees (RRT). The implementation is tested on Pioneer P3-DX mobile robots. The exploration algorithm of an unknown environment includes an RRT-based frontier detector module extended for use with Graph SLAM, the frontier point filter module and the robot task allocator module which uses an exploration time minimization market-based strategy. The ROS navigation stack is used for path planning and following. Experiments were conducted in a simulation environment as well as in a real-world setup