Abstract: To study the cooperating method of multi-robot in exploration,an improved frontier-based exploration algorithm(IFBE) is proposed.Applying in unknown environment exploration with multi-robot teams,this method integrates both orientation and distance of the frontiers and introduces the distribution mechanism so as to coordinate multi-robot’s behaviors,avoid the collision of the multi-robot and reduce the repeated coverage and path crossover.Simulation results show that this method has a better coordination capability for multi-robot teams and improves the explorative efficiency of a multi-robot team.