多机器人FastSLAM的地图合并策略比较研究

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI:10.1109/LARS.2010.20

V. Romero, O.L.V. Costa

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引用次数: 10

摘要

对多机器人系统中用于结合局部地标地图的两种基本策略——数据关联和机器人间观测(交会)——进行了比较研究。模拟环境是一个长满树木的平坦地方，将由配备激光测距仪的两个移动机器人团队绘制地图，以测量每棵树(地标)的位置和宽度。使用FastSLAM2.0算法估计部分地图。

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Map Merging Strategies for Multi-robot FastSLAM: A Comparative Survey

A comparative survey between the two basic strategies used to combine partial landmark based maps in multi-robot systems, data association and inter-robot observations (Rendezvous), is presented. The simulated environment is a flat place populated by trees, which are going to be mapped by a two-mobile robot team equipped with laser range finders in order to measure every tree (landmark) location and width. Partial maps are estimated using the algorithm FastSLAM2.0.

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2010 Latin American Robotics Symposium and Intelligent Robotics Meeting

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