In order to solve the problems of unreasonable task assignment and low efficiency of multi-unmanned vehicle collaborative autonomous exploration in unknown environment,a distributed multi-unmanned vehicle collaborative exploration method based on wave-front algorithm is proposed.Firstly,a priori decision function based on the task assignment method of market mechanism is designed,and the boundary points are preprocessed by maximizing similarity with wavefront algorithm,so that the boundary guiding points are separated from the local optimization,and the min-max evaluation function is introduced to evaluate the boundary points.Secondly,the Dijkstra path planning algorithm is improved through the wave-front algorithm,which makes the moving trajectory of the unmanned vehicle more accurate and reduces the path inflection points.Finally,the method in this paper is compared with the method in literature [12] in various simulation environments,and the average exploration time of this method is reduced by 35.69% when the environment is fully covered.The experimental results show that the method can effectively improve the exploration coverage,reduce repeated paths and shorten exploration time,and improve the efficiency of multi-unmanned vehicle collaborative exploration.