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Accurate map merging with virtual emphasis for multi‐robot systems
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- Authors
- H.C. Lee, Y.J. Cho, B.H. Lee
- Issue Date
- 2013-07
- Citation
- Electronics Letters, v.49, no.15, pp.932-934
- ISSN
- 0013-5194
- Publisher
- IET
- Language
- English
- Type
- Journal Article
- 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. © The Institution of Engineering and Technology 2013.
- KSP Keywords
- Grid Map, Improved performance, Map Matching, One-way, map merging, merging technique, multi-robot systems, particle swarm optimization(PSO), swarm optimisation