상세정보
학술지
Accurate Map Merging with Virtual Emphasis for Multi-Robot Systems
- 저자
- 이헌철, 조영조, 이범희
- 발행일
- 201307
- 출처
- Electronics Letters, v.49 no.15, pp.932-934
- ISSN
- 0013-5194
- 출판사
- IET
- 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 systems, particle swarm optimization(PSO), swarm optimisation