Developed a novel approach to collaborative Simultaneous Localization and Mapping (SLAM) by utilizing a multi-robot system. The experiment employed two turtlebot3 robots operating in a simulated gazebo environment, with ROS serving as the platform for seamless integration. Leveraging the gmapping algorithm, we achieved highly precise mapping of the environment. Additionally, we equipped each robot with autonomous exploration capabilities using explore lite. The maps generated by the robots were skillfully merged using the multirobot map merger, resulting in a comprehensive and detailed representation of the environment.
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone https://github.com/GutlapalliNikhil/Collaborative_SLAM.git
git clone https://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/ros-perception/openslam_gmapping.git
cd ..
catkin_make
source devel/setup.bash
roslaunch ros_multi_tb3 2_tb3_house.launch (In terminal 1)
roslaunch explore_lite explore_1.launch (In terminal 2)
roslaunch explore_lite explore_2.launch (In terminal 3)
Gazebo Env
Map generated by Robot 1
Mag generated by Robot 2
Combined map
