SLAM and map merging

León, A.; Barea, Rafael; Bergasa, Luis M.; López, Elena; Ocaña, Manuel; Schleicher, David
Year: 2009
Type of Publication: Article
Keywords: Multi-robot SLAM; Scan-matching; Fast-slam; Rao-blackwellised particle filter
Journal: Journal of Physical Agents
Volume: 3
Number: 1
Pages: 13-23
Month: January
ISSN: 1888-0258
This paper presents a multi-robot mapping and localization system. Learning maps and efficient exploration of an unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping problem). Our approach involves a team of mobile robots that uses Scan-Matching and Fast-SLAM techniques based on scan-laser and odometry information for mapping large environments. The single maps generated for each robot are more accurate than the maps generated only by odometry. When a robot detects another, it sends its processed map and the master robot generates a very accurate global map. This method cuts down the global map building time. Some experimental results and conclusions are presented.
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