Cooperative Exploration by Multi-Robots without Global Localization
Efficient exploration of unknown environments is a fundamental problem in mobile robotics. We propose a novel topological map whose nodes are represented with the range finder's free beams together with the visual scale-invariant features. The topological map enables teams of robots to efficien...
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2007-09-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/5682 |
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doaj-f7f6bbfc726a41f9b75efd887b272a292020-11-25T03:19:58ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142007-09-01410.5772/568210.5772_5682Cooperative Exploration by Multi-Robots without Global LocalizationShi Chao-xiaHong Bing-rongWang Yan-qingEfficient exploration of unknown environments is a fundamental problem in mobile robotics. We propose a novel topological map whose nodes are represented with the range finder's free beams together with the visual scale-invariant features. The topological map enables teams of robots to efficiently explore environments from different, unknown locations without knowing their initial poses, relative poses and global poses in a certain world reference frame. The experiments of map merging and coordinated exploration demonstrate the proposed map is not only easy for merging, but also convenient for robust and efficient explorations in unknown environments.https://doi.org/10.5772/5682 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Shi Chao-xia Hong Bing-rong Wang Yan-qing |
spellingShingle |
Shi Chao-xia Hong Bing-rong Wang Yan-qing Cooperative Exploration by Multi-Robots without Global Localization International Journal of Advanced Robotic Systems |
author_facet |
Shi Chao-xia Hong Bing-rong Wang Yan-qing |
author_sort |
Shi Chao-xia |
title |
Cooperative Exploration by Multi-Robots without Global Localization |
title_short |
Cooperative Exploration by Multi-Robots without Global Localization |
title_full |
Cooperative Exploration by Multi-Robots without Global Localization |
title_fullStr |
Cooperative Exploration by Multi-Robots without Global Localization |
title_full_unstemmed |
Cooperative Exploration by Multi-Robots without Global Localization |
title_sort |
cooperative exploration by multi-robots without global localization |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2007-09-01 |
description |
Efficient exploration of unknown environments is a fundamental problem in mobile robotics. We propose a novel topological map whose nodes are represented with the range finder's free beams together with the visual scale-invariant features. The topological map enables teams of robots to efficiently explore environments from different, unknown locations without knowing their initial poses, relative poses and global poses in a certain world reference frame. The experiments of map merging and coordinated exploration demonstrate the proposed map is not only easy for merging, but also convenient for robust and efficient explorations in unknown environments. |
url |
https://doi.org/10.5772/5682 |
work_keys_str_mv |
AT shichaoxia cooperativeexplorationbymultirobotswithoutgloballocalization AT hongbingrong cooperativeexplorationbymultirobotswithoutgloballocalization AT wangyanqing cooperativeexplorationbymultirobotswithoutgloballocalization |
_version_ |
1724620004873207808 |