ENVIRONMENT MAPPING USING MULTIPLE ROBOTS

Abstract

In the last few decades the research interest in autonomous Robot is growing up day by day. Robots are use in industry, home, office, universe exploration, etc. Navigation is one of the fundamental part of Autonomous robot so, for efficient robot navigation its required a predefined map. In this thesis, demonstration of frontier-based algorithm for an autonomous exploration, Frontier based explo ration using global map for detecting frontier points. After that filter the points and assign target location to the robot. Frontiers points are the boundaries be tween known area and unknown area. Image processing tool is used for edge detection, so that it is 2D exploration. With proper coordination of multi-robot can do exploration faster than single robot. This thesis present multi-robot map merging for mapping and for exploration frontier-based exploration is used in an unknown static environment. The strategy is tested and implemented using ROS (Robot Operating System), Gazebo9 for simulation, Rviz for visualization, SLAM Gmapping algorithm for mapping, and Move base for path planning are used.