Multi-Robot Active Simultaneous Localization and Mapping Based on Cooperative Correction Approach
TAO Tong1,3, HUANG Ya-Lou1,2, YUAN Jing1, SUN Feng-Chi2
1.College of Information Technical Science,Nankai University,Tianjin 300071 2.College of Software,Nankai University,Tianjin 300071 3.Institute of China Electronic System Engineering Corporation,Beijing 100141
Abstract Cooperation strategy is the key point in multi-robot active simultaneous localization and mapping (SLAM). A cooperation strategy based on correcting each other, called cooperative correction,is proposed. The approach is applied to multi-robot active SLAM by state machine. The cooperative correction approach improves the accuracy of localization and mapping by optimizing the observations of landmarks in two modes: weak cooperative correction and strong cooperative correction. The former is an indirect mode, which is used when all the robots are in low accuracy. The latter is a direct mode, under which the robot with high accuracy will actively correct other robot and related landmarks. Compared the proposed approach with other multi-robot active SLAM approachs, the simulation results validate the advantage of high accuracy, and compared with single robot active SLAM, the simulation results validate the advantage of low navigation cost. Finally, the experimental result in real environment with two Pioneer3-DX mobile robots validates that the cooperative correction approach effectively improves the efficiency and accuracy of multi-robot active SLAM.
TAO Tong,HUANG Ya-Lou,YUAN Jing等. Multi-Robot Active Simultaneous Localization and Mapping Based on Cooperative Correction Approach[J]. , 2012, 25(3): 534-543.
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2012, Vol. 25 
