A Multi -robot Collaborative Autonomous Mapping System based on 2D Lidar

被引：0
|
作者：
Fang, Jingsheng [1 ,2 ]
Huang, Jiajie [1 ,2 ]
Yang, Yuxiang [1 ,2 ]
Zhu, Xiaojing [3 ]
Gao, Mingyu [1 ,2 ]
机构：
[1] Hangzhou Dianzi Univ, Sch Elect & Informat, Hangzhou, Peoples R China
[2] Zhejiang Prov Key Lab Equipment Elect, Hangzhou, Peoples R China
[3] Sinofork Equipment Co Ltd, Huzhou, Peoples R China
来源：
2022 IEEE 17TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) | 2022年
关键词：
Multi-Robot; Cooperative exploration; Grid map construction; EXPLORATION;
D O I：
10.1109/ICIEA54703.2022.10006066
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In order to better explore the mobile robot working environment, a multi-robot collaborative autonomous mapping system based on 2D lidar is designed in this paper. Specifically, a boundary point search method is proposed based on reverse optimization to improve exploration efficiency. Then a boundary search method based on Depth First Search (DFS) algorithm is devised to further optimize the exploration path. Filially, the local maps of multi-robot are fused based on the local feature extraction to construct the complete environment map. Furthermore, the software and hardware system of multi-robot cooperative exploration are developed. Practical experiments in the Gazebo and real indoor environment have proven that the proposed system is rational and feasible.
引用
收藏
页码：991 / 996
页数：6
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