Multivehicle Cooperative Local Mapping: A Methodology Based on Occupancy Grid Map Merging
نویسندگان
چکیده
منابع مشابه
Occupancy Grid Map Merging for Multiple robot simultaneous Localization and Mapping
In robotics, the key requirement for achieving autonomy is to provide robots with the ability to accurately map an environment and simultaneously localize themselves within that environment. This problem is referred to as Simultaneous Localization and Mapping (SLAM). In this research, a decentralized platform for SLAM with multiple robots has been developed. Single-robot SLAM is achieved throug...
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This paper presents a methodology for integrating features within the occupancy grid (OG) framework. The OG maps provide a dense representation of the environment. In particular they give information for every range measurement projected onto a grid. However independence assumptions between cells during updates as well as not considering sonar models lead to inconsistent maps, which may also le...
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The problem of simultaneous localisation and mapping (SLAM) has been addressed in numerous ways with different approaches aiming to produce faster, more robust solutions that yield consistent maps. This focus, however, has resulted in a number of solutions that perform poorly in challenging real life scenarios. In order to achieve improved performance and map quality this article proposes a nov...
متن کاملOccupancy Grid Maps for Localization and Mapping
In order to perform motion planning it is usually necessary to define some representation of the environment and have some method of determining the robot’s location in that environment. Mapping is the problem of determining the representation, while localization is the problem of finding the robot’s position. Many probabilistic techniques for localization depend on the map being defined as a f...
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In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
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ژورنال
عنوان ژورنال: IEEE Transactions on Intelligent Transportation Systems
سال: 2014
ISSN: 1524-9050,1558-0016
DOI: 10.1109/tits.2014.2309639