The research on multi-robot collaborative search based on bio-inspired neural networks in 3D unknown environments is of great value and significance, but robots tend to fall into local optimum in the late search period. This article proposes a multi-robot collaborative search algorithm based on the GBNN model for the problem of multi-robot collaborative coverage search in a 3D unknown environment. When the robot is in a local optimal state, we use a guiding target point to help the robot jump out of the local optimal state and reach the unsearched area. Finally, simulation experiments were conducted to verify the effectiveness of the proposed algorithm. Based on random starting points, complete coverage can be achieved.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Improved Multi-robot Coverage Method in 3D Unknown Environment Based on GBNN


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Deng, Zhidong (editor) / Wenhao, Wang (author) / Fangfang, Zhang (author) / Jianbin, Xin (author) / Hongnian, Yu (author) / Yanhong, Liu (author)

    Conference:

    Chinese Intelligent Automation Conference ; 2023 ; Nanjing, China October 02, 2023 - October 05, 2023



    Publication date :

    2023-09-23


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments

    MUDDU, RAJA SANKAR DILEEP | BASE | 2015

    Free access

    Multi-Robot Coordination for Estimation and Coverage of Unknown Spatial Fields

    Benevento A. / Santos M. / Notarstefano G. et al. | BASE | 2020

    Free access

    Coverage Control for Exploration of Unknown Non-convex Environments with Limited Range Multi-robot Systems

    Catellani, Mattia / Pratissoli, Federico / Bertoncelli, Filippo et al. | Springer Verlag | 2024


    Multi-Robot System for Mapping of the Unknown Environment

    Vondráček, Martin ;Dekan, Martin ;Duchoň, František | Trans Tech Publications | 2014