Research on Multi-Robot SLAM Map FusionMethod Based on Heuristics

Authors

Tong Wang, College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China;Follow
Guangtao Shang, College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China;
Shan Gao, College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China;Follow

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.

Recommended Citation

Wang, Tong; Shang, Guangtao; and Gao, Shan (2022) "Research on Multi-Robot SLAM Map FusionMethod Based on Heuristics," Journal of System Simulation: Vol. 34: Iss. 7, Article 7.
DOI: 10.16182/j.issn1004731x.joss.21-0045
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss7/7

First Page

1449

Revised Date

2021-03-15

DOI Link

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

Last Page

1458

CLC

TP391.9

Recommended Citation

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.

Corresponding Author

Shan Gao,gaoshan08@hrbeu.edu.cn

DOI

10.16182/j.issn1004731x.joss.21-0045