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학술지 Accurate Map Merging with Virtual Emphasis for Multi-Robot Systems
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저자
이헌철, 조영조, 이범희
발행일
201307
출처
Electronics Letters, v.49 no.15, pp.932-934
ISSN
0013-5194
출판사
IET
DOI
https://dx.doi.org/10.1049/el.2013.1572
협약과제
13IC2900, 비정형 환경 대응 네트워크 기반 군집기능 로봇 기술 개발, 조영조
초록
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. © The Institution of Engineering and Technology 2013.
KSP 제안 키워드
Grid Map, Map Matching, One-Way, improved performance, map merging, merging technique, multi-robot system, particle swarm optimization(PSO), swarm optimisation