Title :
Accurate map merging with virtual emphasis for multi-robot systems
Author :
Lee, Hee Chul ; Cho, Y.J. ; Lee, B.H.
Author_Institution :
Seoul Nat. Univ., Seoul, South Korea
Abstract :
A new grid map-merging technique which consists of virtual emphasis by one-way observation, curvature-based map matching and particle swarm optimisation is proposed. The proposed technique can improve not only the accuracy of map merging, but also the flexibility of multi-robot systems. The improved performance is verified by showing higher similarities than the existing map-merging techniques in experiments.
Keywords :
multi-robot systems; particle swarm optimisation; accurate map merging; curvature based map matching; grid map merging technique; multirobot systems; one way observation; particle swarm optimisation; virtual emphasis;
Journal_Title :
Electronics Letters
DOI :
10.1049/el.2013.1572
