仿生触觉传感多机器人协同探索未知环境并构建地图。
Multi-Robot Distributed Optimization for Exploration and Mapping of Unknown Environments using Bioinspired Tactile-Sensor
- 机器人用仿蟑螂触角的触觉传感器感知障碍物，记录碰撞点。
- 分布式优化实现高效探索，1.5×1.5米环境中覆盖率达98%。
- 适合搜救、巡检等需自主探索的应用场景。
本项目提出一种基于分布式优化的仿生多机器人系统，用于高效探索与建图未知环境。每个机器人独立探索周边区域并生成局部地图，最终融合为全局2D地图。受壁面跟随行为启发，机器人通过安装在表面的触觉传感器（类似蟑螂触角）感知障碍物，不避障而记录碰撞点。该去中心化控制策略实现了有效任务分配和高效探索，适用于搜救、工业巡检和环境监测。实验在模拟的1.5×1.5米环境中使用e-puck机器人验证，结果显示系统具备高覆盖率、低碰撞率，并能构建精确2D地图。
原文摘要 · Abstract (English)
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to form a global 2D map of the environment. Inspired by wall-following behaviors, each robot autonomously explores its neighborhood based on a tactile sensor, similar to the antenna of a cockroach, mounted on the surface of the robot. Instead of avoiding obstacles, robots log collision points when they touch obstacles. This decentralized control strategy ensures effective task allocation and efficient exploration of unknown terrains, with applications in search and rescue, industrial inspection, and environmental monitoring. The approach was validated through experiments using e-puck robots in a simulated 1.5 x 1.5 m environment with three obstacles. The results demonstrated the system's effectiveness in achieving high coverage, minimizing collisions, and constructing accurate 2D maps.
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