This article presented a cooperative mapping technique using a novel edge gradient algorithm for multiple mobile robots. The proposed edge gradient algorithm can be divided into four behaviors such as adjusting the movement direction, evaluating the safety of motion behavior, following behavior, and obstacle information exchange, which can effectively prevent multiple mobile robots falling into concave obstacle areas. Meanwhile, a visual field factor is constructed based on biological principles so that the mobile robots can have a larger field of view when moving away from obstacles. Also, the visual field factor will be narrowed due to the obstruction of the obstacle when approaching an obstacle and the obtained map-building data are more accurate. Finally, three sets of simulation and experimental results demonstrate the performance superiority of the presented algorithm.
Distributed GM-CPHD filter based on Generalized Inverse Covariance Intersection
