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Cooperative FSEIF SLAM of Omnidirectional Mobile Multirobots

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Fuzzy Techniques: Theory and Applications (IFSA/NAFIPS 2019 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1000))

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Abstract

The paper presents a cooperative fuzzy sparse extended information filtering (FSEIF) method for simultaneous localization and mapping SLAM) of multiple three-wheeled omnidirectional mobile multirobots in a given indoor environment. After brief description of our previous fuzzy SEIF SLAM (FSEIF SLAM) algorithm for a single mobile robot, a cooperative Fuzzy SEIF SLAM approach is presented for a group of omnidirectional mobile multirobots, where the optimal path searching method is devised by incorporating with K-means and Dijkstra algorithm under the assumption of known map and correspondence conditions. The effectiveness and merits of the proposed cooperative FSEIF SLAM in a large-scale environment are well illustrated by carrying out comparative simulations for multiple mobile robots.

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Acknowledgment

The authors gratefully acknowledge financial support from the Ministry of Science and Technology (MOST), Taiwan, ROC, under contract MOST 107-2221-E-005 -073-MY2.

Author information

Authors and Affiliations

  1. Department of Electrical Engineering, National Chung Hsing University, Taichung, 40277, Taiwan

    Ching-Chih Tsai & Ying-Che Lai

Authors
  1. Ching-Chih Tsai
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  2. Ying-Che Lai
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Corresponding author

Correspondence to Ching-Chih Tsai .

Editor information

Editors and Affiliations

  1. Department of Mathematics, University of Louisiana at Lafayette, Lafayette, LA, USA

    Ralph Baker Kearfott

  2. Center for Computing Research (CIC), Instituto Politecnico Nacional, Ciudad de Mexico, Mexico

    Ildar Batyrshin

  3. Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada

    Marek Reformat

  4. Department of Computer Science, University of Texas at El Paso, El Paso, TX, USA

    Martine Ceberio

  5. Department of Computer Science, University of Texas at El Paso , El Paso, TX, USA

    Vladik Kreinovich

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Tsai, CC., Lai, YC. (2019). Cooperative FSEIF SLAM of Omnidirectional Mobile Multirobots. In: Kearfott, R., Batyrshin, I., Reformat, M., Ceberio, M., Kreinovich, V. (eds) Fuzzy Techniques: Theory and Applications. IFSA/NAFIPS 2019 2019. Advances in Intelligent Systems and Computing, vol 1000. Springer, Cham. https://doi.org/10.1007/978-3-030-21920-8_59

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