Abstract
The research on the map construction of pipeline environment is of great significance for the location of pipeline network, pipeline network planning and pipeline maintenance. It is an important development direction of underground pipeline detection technology to use robot to carry detection equipment into the pipeline to complete fault detection. In this paper, we propose a method of multi-robot collaborative mapping based on decentralized exploration and centralized mapping. The robot describes the pipeline information in the manner designed in this paper. The upper master gets the pipeline map information through single robot and then describes it by using geometry topology method. The simulation results shows that the final pipeline map are consistent with the actual pipeline map.