Multi-robot Cooperative Exploration Based on Geometric-topological Scene Map

In view of the advantages and disadvantages of node geometry information and characteristic scene information, this paper proposes multi-robot cooperative exploration based on geometric-topological scene map. Our algorithm adds the geometric information of nodes to the feature scene map, so as to detect and recognize the node loop. Considering the spatial relationship between a single node and different nodes, we use the Hidden Markov Model (HMM) to locate nodes accurately, and use the geometrical-topological feature scene matching method to perform map fusion. The local map fusion of each robot is turned into a problem of geometrical-characteristic scene matching. Finally, the multitask assignment method of market method is used to realize the multi-robot cooperative exploration task on the simulation platform.