Multi-robot Simultaneous Localization and Mapping based on Pose Graphs Fusion

2nd International Symposium on Resource Exploration and Environmental Science

生态环境科学

Yin, Guangchuan^1 ; Sun, Zhenping^1 ; Wang, Wei^1

College of Intelligent Science and Engineering, National University of Defense Technology, Changsha

410073, China^1

关键词: Global map;    Joint modeling;    Multirobots;    Optimization algorithms;    Outer loop;    Positional relationship;    Simultaneous localization and mapping;    Subgraphs;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/170/4/042167/pdf
DOI  :  10.1088/1755-1315/170/4/042167

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

This paper describes an efficient method for multi-robot simultaneous localization and mapping (SLAM), which establishes a joint model of multi-robot pose graphs based on several special inner and outer loop points called conjunction points. An optimization algorithm based on the fusion of pose graphs is proposed. The rapid fusion of multiple local sub graphs is realized by using the robot encounter information, thus solving the problem of indeterminate positional relationship of the robot and realizing the optimization of the global map.