全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于协助校正方法的多机器人主动同时定位与建图

, PP. 534-543

Keywords: 多机器人,协助校正,同时定位与建图(SLAM)

Full-Text   Cite this paper   Add to My Lib

Abstract:

协作策略是多机器人主动同时定位与建图(SLAM)的关键。文中提出一种多机器人相互校正的协作策略,称为协助校正。该方法通过优化机器人对陆标的观测来提高定位与建图的精度,共包括弱协助校正和强协助校正两种模式。前者是一种间接的协助模式,可应用于所有机器人自身定位均不准确的情形。后者是一种直接的协助模式,由自身定位精度较高的机器人主动校正其它机器人及相应陆标。文中将这两种协助校正模式利用状态机统一到多机器人主动SLAM应用中。在仿真实验中将协助校正与其它多机器人主动SLAM方法进行对比以验证其精度优势,并与单机器人主动SLAM对比以验证其导航代价极低的优势。最后在两台Poineer3-DX移动机器人上进行真实环境实验,实验结果证实协助校正方法可在实际应用中有效提高多机器人主动SLAM的探索效率和精度。

References

[1]  Thrun S,Burgard W,Fox D.Probabilistic Robotics.Cambridge,USA: MIT Press,2005
[2]  Dissanayake G,Newman P,Clark S,et al.A Solution to the Simultaneous Localization and Map Building (SLAM) Problem. IEEE Trans on Robotics and Automation,2001,17(3): 229-241
[3]  Williams S B.Efficient Solutions to Autonomous Mapping and Navigation Problems.Ph.D Dissertation.Sydney,Australia: University of Sydney,2001
[4]  Leonard J J,Durrant-Whyte H F.Simultaneous Map Building and Localization for an Autonomous Mobile Robot // Proc of the IEEE/RSJ International Workshop on Intelligent Robots and Systems.Osaka,Japan,1991: 1442-1447
[5]  Huang G P,Trawny N,Mourikis A I,et al.Observability-Based Consistent EKF Estimators for Multi-Robot Cooperative Localization.Autonomous Robots,2011,30(1): 99-122
[6]  Simmons R,Apfelbaum D,Burgard W,et al.Coordination for Multi-Robot Exploration and Mapping // Proc of the AAAI National Conference on Artificial Intelligence.Austin,USA,2000: 852-858
[7]  Wurm K M,Stachniss C,Burgard W.Coordinated Multi-Robot Exploration Using a Segmentation of the Environment // Proc of the IEEE/RSJ International Conference on Intelligent Robots and Systems.Nice,France,2008: 1160-1165
[8]  Yuan Kui,Li Yuan,Fang Lixin.Multiple Mobile Robot Systems: A Survey of Recent Work.Acta Automatica Sinica,2007,33(8): 785-794 (in Chinese)(原 魁,李 园,房立新.多移动机器人系统研究发展近况.自动化学报,2007,33(8): 785-794)
[9]  Fenwick J W,Newman P M,Leonard J J.Cooperative Concurrent Mapping and Localization // Proc of the IEEE International Conference on Robotics and Automation.Washington,USA,2002: 1810-1817
[10]  Kitchen L,Howard A.Cooperative Localization and Mapping // Proc of the International Conference on Field and Service Robotics.Pittsburgh,USA,1999: 92-97
[11]  Tully S,Kantor G,Choset H.Leap-Frog Path Design for Multi-Robot Cooperative Localization // Proc of the International Conference on Field and Service Robotics.Cambridge,USA,2009: 307-317
[12]  Tao Tong,Huang Yalou,Yuan Jing,et al.Multi-Robot Cooperative Map Building in Unknown Environment Considering Estimation Uncertainty // Proc of the Chinese Control and Decision Conference.Yantai,China,2008: 2896-2901
[13]  Rodriguez-Losada D,Matia F,Jimenez A.Local Maps Fusion for Real Time Multirobot Indoor Simultaneous Localization and Mapping // Proc of the IEEE International Conference on Robotics and Automation.New Orleans,USA,2004: 1308-1313
[14]  Yamauchi B.Frontier-Based Exploration Using Multiple Robots // Proc of the 2nd International Conference on Autonomous Agents.Minneapolis,USA,1998: 47-53
[15]  Newman P,Ho K.SLAM-Loop Closing with Visually Salient Features // Proc of the IEEE International Conference on Robotics and Automation.Barcelona,Spain,2005: 635-642
[16]  Leung C,Huang S,Dissanayake G.Active SLAM Using Model Predictive Control and Attractor Based Exploration // Proc of the IEEE/RSJ International Conference on Intelligent Robots and Systems.Beijing,China,2006: 5026-5031
[17]  Tao Tong,Huang Yalou,Sun Fengchi,et al.Motion Planning for SLAM Based on Frontier Exploration // Proc of the IEEE International Conference on Mechatronics and Automation.Harbin,China,2007: 2120-2125

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133