A Fast Map Merging Algorithm in the Field of Multirobot SLAM
Joint Authors
Zhang, Heng
Liu, Yanli
Fan, Xiaoping
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-02
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
In recent years, the research on single-robot simultaneous localization and mapping (SLAM) has made a great success.
However, multirobot SLAM faces many challenging problems, including unknown robot poses, unshared map, and unstable communication.
In this paper, a map merging algorithm based on virtual robot motion is proposed for multi-robot SLAM.
The thinning algorithm is used to construct the skeleton of the grid map’s empty area, and a mobile robot is simulated in one map.
The simulated data is used as information sources in the other map to do partial map Monte Carlo localization; if localization succeeds, the relative pose hypotheses between the two maps can be computed easily.
We verify these hypotheses using the rendezvous technique and use them as initial values to optimize the estimation by a heuristic random search algorithm.
American Psychological Association (APA)
Liu, Yanli& Fan, Xiaoping& Zhang, Heng. 2013. A Fast Map Merging Algorithm in the Field of Multirobot SLAM. The Scientific World Journal،Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-1032607
Modern Language Association (MLA)
Liu, Yanli…[et al.]. A Fast Map Merging Algorithm in the Field of Multirobot SLAM. The Scientific World Journal No. 2013 (2013), pp.1-8.
https://search.emarefa.net/detail/BIM-1032607
American Medical Association (AMA)
Liu, Yanli& Fan, Xiaoping& Zhang, Heng. A Fast Map Merging Algorithm in the Field of Multirobot SLAM. The Scientific World Journal. 2013. Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-1032607
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032607