张洪峰, 王硕, 谭民, 王龙. 基于动态分区方法的多机器人协作地图构建[J]. 机器人, 2003, 25(2): 156-162.
引用本文: 张洪峰, 王硕, 谭民, 王龙. 基于动态分区方法的多机器人协作地图构建[J]. 机器人, 2003, 25(2): 156-162.
ZHANG Hong-feng, WANG Shuo, TAN Min, WANG Long. A DYNAMIC REGION DECOMPOSITION APPROACH TO COOPERATIVE MULTI-ROBOT MAP-BUILDING[J]. ROBOT, 2003, 25(2): 156-162.
Citation: ZHANG Hong-feng, WANG Shuo, TAN Min, WANG Long. A DYNAMIC REGION DECOMPOSITION APPROACH TO COOPERATIVE MULTI-ROBOT MAP-BUILDING[J]. ROBOT, 2003, 25(2): 156-162.

基于动态分区方法的多机器人协作地图构建

A DYNAMIC REGION DECOMPOSITION APPROACH TO COOPERATIVE MULTI-ROBOT MAP-BUILDING

  • 摘要: 本文针对多机器人对复杂的未知环境的地图构建问题,提出了一种通过动态分区实现多机器人协作地图构建的方法.在本文中,采用基于栅格的地图表示法,利用多个距离传感器收集信息,应用Dempster-Shafer证据推理法对信息进行了融合.通过仿真试验,验证了该方法的可行性.

     

    Abstract: In this paper we present a dynamic region decomposition approach to cooperative multi-robot map-building in a complicated unknown environment. The map is based on a two-dimensional occupancy grids. The range sensor readings are fused into the map using the Dempster-Shafter inference rules. We carry out an experiment with two simulated robots exploring a complex space and prove the effectiveness of this approach.

     

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