2.ActiveSLAMproblemwithmultiplerobots国立成功大学电机工程学.pptVIP

國立成功大學 電機工程學系 機電整合實驗室 Page * 國立成功大學 電機工程學系 機電整合實驗室 An Improved Active SLAM Algorithm for Multi-Robot Exploration Viet-Cuong Pham and Jyh-Ching Juang National Cheng Kung University, Taiwan September 16, 2011 SICE 2011 Tokyo, Japan Supported by: Taiwan National Science Council Naional Cheng Kung University Introduction Active SLAM problem with multiple robots Proposed approach General framework Exploration phase with global optimization strategy Relocalization phase Adaptive uncertainty threshold Limited communication range Simulations and Discussions Conclusions Outline Exploration Robots cover the environment with their sensors SLAM (Simultaneous Localization and Mapping) A mobile robot attempts to build a map At the same time uses this map to deduce its location Ordinary SLAMs Only process perceived sensor data Do not influence the motion of the mobile robot Path control strategy can have a substantial impact on the quality of the resulting map This study: blend concepts of SLAM, active path planning, and cooperation among multiple robots 1. Introduction 1. Introduction Robot system Cooperative SLAM References Single No Active [9], [10], [11], [17] Multiple No No [21] Multiple Yes No [6], [7], [8], [13], [14], [15], [18], [20], [22] Multiple Yes Passive [2], [3], [16], [19] Multiple Yes Active [12], this study Comparison of different exploration methods The state vector : pose of the r-th robot at time k : position of the l-th landmark 2. Active SLAM problem with multiple robots Process model: Measurement model: 2. Active SLAM problem with multiple robots Objectives: Cover the whole environment in a minimum amount of time Guarantee the accuracy of the map Constrained optimization problem : pose error covariance of the r-th robot α : predefined threshold 2. Active SLAM problem with multiple robots Two parts: Path generation: determining