A DYNAMIC REGION DECOMPOSITION APPROACH TO COOPERATIVE MULTI-ROBOT MAP-BUILDING
ZHANG Hong-feng1, WANG Shuo2, TAN Min2, WANG Long1
1. Department of Mechanics and Engineering Science, Peking University, Beijing 100871; 2. Institute of Automation, Chinese Academy of Sciences, Beijing 100080
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. ROBOT, 2003, 25(2): 156-162..
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.
[1] Gonzalez A Suarez, C Moreno F. Artigue. Uncertainty treatment in a surface filling mobile robot in Leo Dorst (ed.) Reasoning with Uncertainty in Robotics, Springer-Verlag, 1996 [2] Young Jin Lee, Myung Jin Chung. A reliable feature matching method in omnidirectional views for autonomous map generation of a mobile robot. Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on,2001,2: 895-900 [3] Kortenkamp D, Weynouth T. Topological mapping for mobile robot using a combination of sonar and vision sensing. In Proceeding Twelfth NCAI, AAAI, 1994 [4] Lee S W, Byrne R H, Where am I, sensors and methods for bomile robot positioning, The University of Michigan [5] Kuc R, Siegel M W. Physically based simulation model for acoustic sensor robot navigation. IEEE Trans Pattern analysis machine Intelligence, 1987,9(6), 766-788 [6] Jiming Liu, J-B Wu, David A. Malur. Evolutionary self-organization of an artificial potential field map with a group of autonomous robots. Evolutionary Computation, 1999. CEC 99. Proceedings of the 1999 Congress on, 1999,1 [7] Ioannis M. Rekleitis, Gregory Dudek, Evangelos E. Milios Multi-robot collaboration for robust exploration. Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on, 2000,4 [8] 张福学. 机器人学智能机器人传感技术. 电子工业出版社. 1996 [9] P Dempster. A Generalization of Bayesian Inference. Journal of Royal Statistical Society, Series B, 1968,30(2): 205-247 [10] G Shafer. A Mathematical Theory of Evidence. Princeton University Press, 1976
