Growing Topological Map for SLAM of Mobile Robots

被引：0

作者：

Sasaki, Hironobu ^{[1
]}

Kubota, Naoyuki ^{[1
]}

Taniguchi, Kazuhiko ^{[2
]}

机构：

[1] Tokyo Metropolitan Univ, Dept Syst Design, Tokyo 158, Japan

[2] Kinden Corp, Kyoto R&D Ctr, Kyoto, Japan

来源：

2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7 | 2008年

关键词：

SLAM; multiple robot; GA; GNG;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a simultaneous localization and mapping method in unknown environments of multiple mobile robots. According to the measured distance by laser range finder, a shared map is updated sequentially cooperatively. When the difference between the measured distance and its corresponding map data is large, the robot updates the self-location by using the steady-state genetic algorithm, and updates the map by using topological approach. We propose a map building method using a growing topological map. Finally we discuss the effectiveness of the proposed methods through several experimental results and comparison results.

引用

页码：3372 / +

页数：2

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