A Fast Map Merging Algorithm in the Field of Multirobot SLAM
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 virt...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2013/169635 |
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| _version_ | 1849307744596656128 |
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| author | Yanli Liu Xiaoping Fan Heng Zhang |
| author_facet | Yanli Liu Xiaoping Fan Heng Zhang |
| author_sort | Yanli Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-27d65d173eb545948d21bcc044d2be2e |
| institution | Kabale University |
| issn | 1537-744X |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-27d65d173eb545948d21bcc044d2be2e2025-08-20T03:54:38ZengWileyThe Scientific World Journal1537-744X2013-01-01201310.1155/2013/169635169635A Fast Map Merging Algorithm in the Field of Multirobot SLAMYanli Liu0Xiaoping Fan1Heng Zhang2School of Information Science and Engineering, Central South University, Changsha 410075, ChinaSchool of Information Science and Engineering, Central South University, Changsha 410075, ChinaSchool of Information Engineering, East China Jiaotong University, Nanchang 330013, ChinaIn 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.http://dx.doi.org/10.1155/2013/169635 |
| spellingShingle | Yanli Liu Xiaoping Fan Heng Zhang A Fast Map Merging Algorithm in the Field of Multirobot SLAM The Scientific World Journal |
| title | A Fast Map Merging Algorithm in the Field of Multirobot SLAM |
| title_full | A Fast Map Merging Algorithm in the Field of Multirobot SLAM |
| title_fullStr | A Fast Map Merging Algorithm in the Field of Multirobot SLAM |
| title_full_unstemmed | A Fast Map Merging Algorithm in the Field of Multirobot SLAM |
| title_short | A Fast Map Merging Algorithm in the Field of Multirobot SLAM |
| title_sort | fast map merging algorithm in the field of multirobot slam |
| url | http://dx.doi.org/10.1155/2013/169635 |
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