Abstract
This paper proposes an algorithm for an efficient navigation and building a precise map in multi-robot systems. One of the fundamental problems in mobile robotics is an effective investigation of unknown environments. The basis of navigation algorithm in this paper is Extented Wave Algorithm, which is in our point of view, appropriate in getting accurate.Secondly, particle filter, which proved its reliability, was considered as localization algorithm. Finally, overlapping algorithm is responsible for mapping. The technique has been tested extensively in simulation runs. The results given in this paper demonstrate that our algorithm significantly reduces the exploration time compared to previous approaches.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Dissanayake, G., Newman, P., Clark, S., Durrant-Whyte, H., Csorba, M.: BA solution to the simultaneous localization and map building (SLAM) problem. IEEE Trans. Robot. Autom. 17(3), 229–241 (2001)
Ko, J., Stewart, B., Fox, D., Konolige, K., Limketkai, B.: BA practical, decision-theoretic approach to multi-robot mapping and exploration. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 3232–3238 (2003)
Pulford, G.W., LA Scala, B.F.: Map estimation of target manoeuvre sequence with expectation-maximization algorithm. IEEE Trans. On aerospace and electronic systems 38(2) (April 2002)
Williams, S., Dissanayake, G., Durrant-Whyte, H.: Towards multi-vehicle simultaneous localization and mapping. In: Proc. 2002 IEEE Int. Conf. Robotics and Automation (ICRA), pp. 2743–2748 (2002)
Yamauchi, B.: Frontier-based exploration using multiple robots. In: Proc. of the Second International Conference on Autonomous Agents (1998)
Birk, A., Carpin, S.: Merging Occupancy Grid Maps From Multiple Robots. IEEE Trans. Robot. Autom. 94, 1384–1397 (2006)
Roumeliotis, S., Bekey, G.: BDistributed multirobot localization. IEEE Trans. Robot. Autom. 18(5), 781–795 (2002)
Burgard, W., Moors, M., Schneider, F.: BCollaborative exploration of unknown environments with teams of mobile robots. IEEE Trans. Robot. Autom. 18(5), 781–795 (2002)
Stachniss, C., Mozos, O.M., Burgard, W.: Speeding-up multi-robot exploration by considering semantic place information. IEEE Trans. Robot. Autom. 18(5), 581–587 (2006)
Stachniss, C., Mozos, O.M., Burgard, W.: Coordinated multi-robot exploration. IEEE Trans. Robot. 21(3), 376–386 (2005)
Saitov, D., Umirov, U., Lee, S.G., Park, J.I.: International Symposium on Mechatronics and Automatic Control Section. In: (ISMA), pp. 116–122 (October 2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Saitov, D., Han, K.J., Lee, S.G. (2010). Diffusing Method for Unknown Environment Exploration in Multi Robot Systems. In: Tan, Y., Shi, Y., Tan, K.C. (eds) Advances in Swarm Intelligence. ICSI 2010. Lecture Notes in Computer Science, vol 6145. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13495-1_84
Download citation
DOI: https://doi.org/10.1007/978-3-642-13495-1_84
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13494-4
Online ISBN: 978-3-642-13495-1
eBook Packages: Computer ScienceComputer Science (R0)