A Method for Distributed Multi-Robot Simultaneous Localization and Mapping
A novel method was presented to realize the distributed multi-robot simultaneous localization and mapping for the efficient exploration of unknown environments and partial map merging. According to the robots explored information,a single robot built its partial map and estimated its location in the next step,it could actively communicate with other robots. The communication robots formed a dynamic exploration cluster. A method of con-elation matching of two right angles with less calculation was given to address the partial map merging of the robots in a cluster. The robots in a cluster share the merged map to coordinate their exploration actions and estimate their relative locations. The method enabled teams of robots to efficiently build highly accurate maps of unknown environments,even when the initial locations of the robots were unknown. Simulation results showed that the map generated by our approach was same with the standard map,and verify the high accuracy and robustness of this method.
multiple robots uncertain environment simultaneous localization map building map merging
Jie Jiang Tuan-jie Li
Engineering college,Honghe University,China School of Electromechanical Engineering,Xidian University,China
国际会议
西安
英文
817-821
2011-12-23（万方平台首次上网日期，不代表论文的发表时间）