An Efficient Method of Multi-robots Topological Map Building
- 10.2991/icaset-18.2018.2How to use a DOI?
- Multi-robots; Topological Map; Image registration; ICP-SVD
In order to accomplish task, map building is the key technology in mobile robotic control in unknown environment. In this paper, a mathematical model of map integration is established to solve multi-robot topological map integration problem. A new method which was a combination of the classical ICP (Iterative Closest Point) algorithm and the singular value decomposition (SVD) algorithm was used. The simulation results showed that the ICP-SVD image registration algorithm applied to the topology map fusion made the algorithm implementation become more simple. What more, the model also reduced time consuming, and the matching results were better.
- © 2018, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Na Wang AU - Haiyan Wang AU - Jixin Liu AU - Yi Zheng PY - 2018/04 DA - 2018/04 TI - An Efficient Method of Multi-robots Topological Map Building BT - Proceedings of the 2018 8th International Conference on Applied Science, Engineering and Technology (ICASET 2018) PB - Atlantis Press SP - 5 EP - 9 SN - 2352-5401 UR - https://doi.org/10.2991/icaset-18.2018.2 DO - 10.2991/icaset-18.2018.2 ID - Wang2018/04 ER -