Research on Multi-Robot SLAM Map FusionMethod Based on Heuristics

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

Abstract

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

CLC Number:

TP391.9

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.

Figures/Tables 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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