Multi-Robot Autonomous Exploration in Unknown Environments Using Omnidirectional Mobile Robots
Project Description
Autonomous exploration enables mobile robots to navigate and map unknown environments without prior information. Multi-robot systems can further improve exploration efficiency by allowing several robots to work collaboratively. In this project, students will develop a multi-robot autonomous exploration system based on omnidirectional mobile robots. The project will cover robot hardware design, omnidirectional motion control, environmental perception and mapping, autonomous exploration, as well as multi-robot task allocation and system coordination. The developed system will be integrated and tested in representative indoor environments.
Supervisor
SHI, Ling
Quota
2
Course type
UROP1100
UROP2100
UROP3100
UROP3200
UROP4100
Applicant's Roles
(1) Design and fabricate a compact omnidirectional mobile robot platform.
(2) Develop omnidirectional motion control and trajectory tracking algorithms.
(3) Develop environmental perception, SLAM, and autonomous exploration algorithms.
(4) Develop multi-robot cooperative planning, task allocation, and system scheduling algorithms.
(5) Integrate and experimentally validate the complete multi-robot autonomous exploration system.
(2) Develop omnidirectional motion control and trajectory tracking algorithms.
(3) Develop environmental perception, SLAM, and autonomous exploration algorithms.
(4) Develop multi-robot cooperative planning, task allocation, and system scheduling algorithms.
(5) Integrate and experimentally validate the complete multi-robot autonomous exploration system.
Applicant's Learning Objectives
Throughout the project, applicants will gain practical skills in omnidirectional robot design, embedded systems, motion control, SLAM, autonomous exploration, multi-robot planning and coordination, as well as ROS/ROS 2-based system integration and experimental validation.
Complexity of the project
Challenging