Abstract：A complete exploration algorithm using multiple robots in an unknown environment is proposed. Based on the principle of the immune system, the system is fully decentralized. It has no requirement for the starting points and the formation of the robots. Each local environment condition sensed by the robots is considered as antigen while robot is regarded as Bcell and the next exploration target as antibody respectively. Each robot works independently according to the antigen information. The coordination of the robots can be realized by utilizing the interactions among antibodies. The system carries out the exploration of unknown environment with the combination of robots’ independence and coordination. Instead of recording information about environment map, the complete exploration is realized using the frontier in the memory library. Simulation results validate the algorithm is efficient, complete and robust to the fail of robot and the lost of the communication.
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2007, Vol. 20 
