Cooperative multi-robot navigation, exploration, mapping and object detection with ROS

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI:10.1109/IVS.2013.6629610

R. Reid, Andrew Cann, C. Meiklejohn, L. Poli, A. Boeing, T. Bräunl

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引用次数: 52

Abstract

This article describes WAMbot, a multi-robot system designed to navigate, explore and map large-scale urban environments while performing visual object recognition. The system can be easily adapted and deployed into a variety of scenarios such as search and rescue or surveillance. The original WAMbot system was developed for the Multi Autonomous Ground-robotic International Challenge in 2010 (MAGIC 2010). It successfully passed a competitive down-selection process and placed 4th in the final challenge. Our ongoing work has been to modularize the WAMbot system further, and standardize it using the open source Robot Operating System (ROS) software framework. We describe the core components, or stacks, in the new WAMbot system including: 1) a large-scale mapping stack capable of building 500×500m global maps from over 20 robots in real-time, 2) an efficient, frontier-based multi-robot exploration stack, 3) a navigation stack including a centralized global planner with decentralized local navigation and 4) an intuitive graph-based visual object recognition pipeline.

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基于ROS的协同多机器人导航、探索、测绘和目标检测

这篇文章描述了WAMbot，一个多机器人系统，设计用于导航，探索和绘制大规模城市环境，同时执行视觉对象识别。该系统可以很容易地适应和部署到各种场景，如搜索和救援或监视。最初的WAMbot系统是为2010年多自主地面机器人国际挑战赛(MAGIC 2010)开发的。它成功地通过了竞争性的淘汰过程，并在最后的挑战中获得了第四名。我们正在进行的工作是进一步模块化WAMbot系统，并使用开源机器人操作系统(ROS)软件框架对其进行标准化。我们描述了新的WAMbot系统中的核心组件或堆栈，包括:1)能够实时构建超过20个机器人的500×500m全球地图的大规模地图堆栈，2)高效的基于边界的多机器人探索堆栈，3)导航堆栈，包括具有分散局部导航的集中式全局规划器和4)直观的基于图形的视觉对象识别管道。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2013 IEEE Intelligent Vehicles Symposium (IV)

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