A Multi-robot Collaborative Autonomous Mapping System based on 2D Lidar

In order to better explore the mobile robot working environment, a multi-robot collaborative autonomous mapping system based on 2D lidar is designed in this paper. Specifically, a boundary point search method is proposed based on reverse optimization to improve exploration efficiency. Then a boundary search method based on Depth First Search (DFS) algorithm is devised to further optimize the exploration path. Finally, the local maps of multi-robot are fused based on the local feature extraction to construct the complete environment map. Furthermore, the software and hardware system of multi-robot cooperative exploration are developed. Practical experiments in the Gazebo and real indoor environment have proven that the proposed system is rational and feasible.