Mobile robot indoor map construction method based on multi-robot cooperation

The invention discloses a mobile robot indoor map construction method based on multi-robot cooperation. The method comprises the following steps of S1, the mileage information of multiple robots, the distance information between UWB nodes and laser scanning data being collected; S2, obtaining relative poses of multiple robots through a nonlinear optimization algorithm, and fusing the odometer information on the basis to obtain optimized multi-robot trajectory data; and S3, constructing a laser closed-loop constraint and a pose map, further optimizing the tracks of the multiple robots, and constructing a map in combination with laser scanning data. The robot calculates the mileage information of the robot through an encoder; based on the collected multiple groups of UWB distance information, the relative poses of the multiple robots are obtained through a nonlinear optimization algorithm; the speedometer and UWB pose estimation data are fused to improve positioning precision; laser closed-loop constraint is co