一种非结构环境下多机器人构建地图的方法

提出了一种多移动机器人在非结构环境下构建地图的新方法.该方法让各机器人独立探索环境并对不同的局部栅格地图予以融合.在地图融合过程中,无需考虑机器人相对位置的先验信息,而是以栅格地图相似度为度量标准,利用距离变换和改进的遗传算法高效、快速地搜索各局部地图之间的最大重叠部分,进而予以融合.实验结果表明,与常规方法相比,该方法能够较为精确地实现非结构环境下多机器人地图构建,且限制条件少,更适合于实际应用中的各种复杂情况.

An approach to multi-robot map building in unstructured environments

A novel approach to multi-robot cooperative map building in complex environments was presented.The approach lets all robots operate individually and then tries to merge the different local grid maps into a single global one.Without using any priori pose information of robots,the process of map merging is performed by measuring the similarity between grid maps.Distance transforms and an improved genetic algorithm are used to effectively search the maximum overlap at which the local maps can be joined togethe...