Abstract:Multi-robot collaborative localization and path planning is the primary problem in collaborative reconnaissance, combat and other scenarios. The difficulty lies in how to achieve autonomous localization in an unknown environment. This paper proposes to apply the multi-robot collaborative localization (simultaneous localization and mapping) system to the indoor environment to solve this problem. In order to solve the problem of slow map construction of a single robot, the coordinate transformation based method is applied to map merging of multiple robots. In addition, based on the idea of conflict detection and conflict avoidance, the path planning method of multi-robot is studied and deployed in multi-robot system. The experimental results show that the multi-robot cooperation in environment detection can improve the efficiency of composition while ensuring completeness global map information, and the multi-robot path planning method based on conflict avoidance can plan a collision free path for the individual robot, and the robot can reach the target along this path.