| Liu Limei (刘利枚),Cai Zixing.[J].高技术通讯(英文),2013,19(1):7~11 |
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| Multi-robot mapping based on the adaptive differential evolution |
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| DOI： |
| 中文关键词: |
| 英文关键词: differential evolution algorithm, map building, multi-robot, grid maps, adaptive, cooperative simultaneous localization and mapping |
| 基金项目: |
| Author Name | Affiliation | | Liu Limei (刘利枚) | | | Cai Zixing | |
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| 中文摘要: |
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| 英文摘要: |
| Map building by multi-robot is very important to accomplish autonomous navigation, and one of the basic problems and research hotspots is how to merge the maps into a single one in the field of multi-robot map building. A novel approach is put forward based on adaptive differential evolution to map building for the multi-robot system. The multi-robot mapping-building system adopts the methods of decentralized exploration and concentrated mapping. The adaptive differential evolution algorithm is used to search in the space of possible transformation, and the iterative search is performed with the goal of maximizing overlapping regions. The map is translated and rotated so that the two maps can be overlapped and merged into a single global one successfully. This approach for map building can be realized without any knowledge of their relative positions. Experimental results show that the approach is effective and feasibile. |
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