具有里程不确定性的多智能体移动机器人在线地图构建进化算法

Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512) Pub Date : 2000-07-16 DOI:10.1109/CEC.2000.870286

Yong-Jae Kim, Jong-Hwan Kim

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引用次数: 3

摘要

提出了一种基于里程不确定性的多智能体移动机器人在线地图构建进化算法。每个机器人绘制地图的控制算法是相同的，并采用在线进化算法(EA)进行训练。每个机器人都有构型的不确定性，这种不确定性随着机器人的移动而增加，并且机器人通过有限范围的传感器来感知周围环境信息。它与其他机器人交流并共享信息。定义了基本行为，并使用它们来构建映射。将EA应用于已定义的行为集，以优化机器人的动作。为了证明该算法的有效性，在不同的环境下进行了计算机模拟。

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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Online map building evolutionary algorithm for multi-agent mobile robots with odometric uncertainty

An online map building evolutionary algorithm is proposed using multi-agent mobile robots with odometric uncertainty. The control algorithm for map building in each robot is identical and trained by an online evolutionary algorithm (EA). Each robot has configuration uncertainty which increases as it moves, and it perceives the surrounding environment information by the limited range sensors. It communicates with other robots and shares the information. The elementary behaviors are defined and they are used to build a map. EA is applied to the defined behavior set for optimizing the robot actions. To demonstrate the effectiveness of the proposed algorithm, computer simulations are conducted for various environments.

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Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512)

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