A Sub-Mother UAV System for Collaborative Exploration in Unknown Environments

This research investigates the autonomous exploration of sub-mother UAVs in both forest and maze scenarios. By creating environments based on ROS and the Gazebo simulator, we deployed exploration algorithms and achieved full-process autonomous exploration simulations. The research results show that the sub-mother UAV system excels in wide-area coverage and detailed local detection, effectively addressing issues such as cross-regional, long-duration, and large-scale searches. It overcomes logistical supply and endurance challenges and is not easily constrained by terrain. This paper provides a solid foundation for the application of sub-mother UAVs in complex environments and highlights areas for further optimization in sensor fusion and path planning algorithms.