基于启发式的多机器人SLAM地图融合方法研究

doi:10.16182/j.issn1004731x.joss.21-0045

系统仿真学报 ›› 2022, Vol. 34 ›› Issue (7): 1449-1458.doi: 10.16182/j.issn1004731x.joss.21-0045

基于启发式的多机器人SLAM地图融合方法研究

王桐(), 尚光涛, 高山()

哈尔滨工程大学信息与通信工程学院，黑龙江哈尔滨，150001

收稿日期:2021-01-16 修回日期:2021-03-15 出版日期:2022-07-30 发布日期:2022-07-20
通讯作者: 高山 E-mail:wangtong@hrbeu.edu.cn;gaoshan08@hrbeu.edu.cn
作者简介:王桐（1977-），男，博士，教授，研究方向为车联网建模与仿真。E-mail：wangtong@hrbeu.edu.cn
基金资助:
国家自然科学基金(61102105);国家重点研发计划(2016YFB0700100);哈尔滨市人才项目(2017RAQXJ036);中央高校基本科研业务费(2017RAQXJ036)

Research on Multi-Robot SLAM Map FusionMethod Based on Heuristics

Tong Wang(), Guangtao Shang, Shan Gao()

College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China

Received:2021-01-16 Revised:2021-03-15 Online:2022-07-30 Published:2022-07-20
Contact: Shan Gao E-mail:wangtong@hrbeu.edu.cn;gaoshan08@hrbeu.edu.cn

摘要/Abstract

摘要：

同步定位和地图构建（simultaneous localization and mapping，SLAM）是移动机器人在未知环境中完成地图构建和定位任务的关键技术。针对多机器人SLAM中的地图融合问题，提出一种启发式的搜索方法引导局部地图的重复区域进行地图融合。每个机器人可以在不了解其相对位置的情况下建立局部地图，并将局部地图信息发送至同一工作站中，以局部地图的相似性为判断指标融合得到最优的全局地图。在机器人实物平台上进行验证，结果证明了多机器人SLAM的地图融合算法的有效性和准确性。

关键词: 多机器人SLAM, 启发式, 局部地图, 相似性, 地图融合

Abstract:

Simultaneous Localization and Mapping (SLAM) is a key technology for mobile robots to complete map construction and positioning tasks in an unknown environment. Aiming at the map fusion problem in multi-robot SLAM, a heuristic search method is proposed to guide the repeated regions of the local map for map fusion. Each robot can build a local map without knowing its relative position, and send the local map information to the same workstation, and use the similarity of the local map as the judgment index to fuse to obtain the optimal global map.Verified on the robot physical platform, the results prove the effectiveness and accuracy of the map fusion algorithm of multi-robot SLAM.

Key words: multi-robot SLAM(multi-robot simultaneous localization and mapping), heuristic, local map, similarity, map fusion

中图分类号:

TP391.9

王桐, 尚光涛, 高山. 基于启发式的多机器人SLAM地图融合方法研究[J]. 系统仿真学报, 2022, 34(7): 1449-1458.

Tong Wang, Guangtao Shang, Shan Gao. Research on Multi-Robot SLAM Map FusionMethod Based on Heuristics[J]. Journal of System Simulation, 2022, 34(7): 1449-1458.

图/表 8

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搜索方法	局部地图
搜索方法	50	100	150	200
差异进化算法	1.52	88.32	225.45	510.45
随机游走模型	1.46	76.68	195.87	314.54

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基于启发式的多机器人SLAM地图融合方法研究

Research on Multi-Robot SLAM Map FusionMethod Based on Heuristics

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