2D MULTI-ROBOT SLAM USING LASER DATA
Publish place: 26th Annual Conference of Mechanical Engineering
Publish Year: 1397
Type: Conference paper
Language: English
View: 532
This Paper With 5 Page And PDF Format Ready To Download
- Certificate
- I'm the author of the paper
Export:
Document National Code:
ISME26_583
Index date: 20 January 2019
2D MULTI-ROBOT SLAM USING LASER DATA abstract
In this article, the cooperation of two ground robots are used to produce a two-dimensional map of the environment. The job is done using the information extracted from laser sensors mounted on the robots and the odometry data provided by each. To map the environment, a robot must know and determine its position in the environment, and have a map. To solve this complex problem. simultaneous localization and mapping (SLAM) methods are required. In large and complex environments, using a robot is not affordable because the error and the time required are increased. That s why multiple robots are used for mapping. The greatest challenge in the multi- robot case is the map-merging problem. In this study, an efficient algorithm is presented where the maps are converted into images and then merged. This algorithm can be implemented in online or offline modes. Ftmherinore. the system can merge the two maps without some information like the initial and relative positions of the robots in the mapping process. Several practical tests are performed to suppon the perfomtability of the method. To sum up, one of them is presented in this article. The results of all the tests indicate that the method was successful in increasing the accuracy and reducing the time required.
2D MULTI-ROBOT SLAM USING LASER DATA Keywords:
2D MULTI-ROBOT SLAM USING LASER DATA authors
sara farahani
M.Sc. Student, Department of mechanical Engineering, University of Isfahan;
shahram hadian jazi
Asistant Professor, department of Mechanicai Engineering, University of Isfahan;