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yunlongguo2000 · Mar 3, 2022 · 8f4f055 · 8f4f055
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+# Voronoi Multi_Robot Collaborate Exploration
+
+## Introduction
+In the unknown environment, the cooperative exploration of multiple robots is completed by Voronoi partition and deep reinforcement learning. The decision-making level assigns different target positions to each mobile robot through Voronoi  partition and point selection formula to minimize repeated exploration; The path planning layer uses the method based on deep reinforcement learning to make each mobile robot reach the corresponding target position without collision.
+
+## Enviroment
+| parameter   |  description  |
+| ----  | ----  |
+| system| Ubuntu18.04 ; ROS(Melodic); Phython 2.7|
+| simulator | Gazebo|
+| display |Rviz|
+| simulation car | Turtlebot3(Waffle)|
+|senor | LiDAR |
+| laser range | 0.1 - 3.5 m |
+| angle range | -90 - 90|
+| laser numer  | 24 |
+
+## Run
+### dependency package
+```
+sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers ros-melodic-multirobot-map-merge
+```
+Add
+```
+pyyaml、rospkg、pytorch、torchvision、tensorflow 、tensorboard、mpi4py、joblib、gym、pathlib、wandb、Image、setproctitle、imageio
+```
+### compile & run
+```
+> catkin_make 
+> source devel/setup.bash
+> roslaunch multi_turtlebot3_expore three_turtlebot3_gmapping.launch
+> python ddpg_test.py
+```
+### test
+#### Move & mapping
+![simulation_gmapping](imgs/simulation_gmapping.gif)
+Comparison of construction effects
+![origin&true](imgs/origin&true.png)
+#### Run in other environments
+![test_env_2_1](imgs/test_env_2_1.gif)
+Avoid obstacle
+![test_env_2_3](imgs/test_env_2_3.gif)
+## Reference 
+- hanlinniu/turtlebot3_ddpg_collision_avoidance：https://github.com/hanlinniu/turtlebot3_ddpg_collision_avoidance
diff --git a/imgs/origin&true.png b/imgs/origin&true.png
diff --git a/imgs/simulation_gmapping.gif b/imgs/simulation_gmapping.gif
diff --git a/imgs/test_env_2_1.gif b/imgs/test_env_2_1.gif
diff --git a/imgs/test_env_2_1.mp4 b/imgs/test_env_2_1.mp4
diff --git a/imgs/test_env_2_3.gif b/imgs/test_env_2_3.gif
diff --git a/imgs/test_env_2_3.mp4 b/imgs/test_env_2_3.mp4