Diffusing method for unknown environment exploration in multi robot systems

Authors:
Dilshat Saitov;Ki Joon Han;Suk Gyu Lee
Affiliations:
Dept of Electrical Eng., Yeungnam University, Gyongbuk, Korea;School of Electrical Eng., and Computer Sci, Kyungbuk Nattional University;Dept of Electrical Eng., Yeungnam University, Gyongbuk, Korea
Venue:
ICSI'10 Proceedings of the First international conference on Advances in Swarm Intelligence - Volume Part I
Year:
2010

Citing 2
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AGENTS '98 Proceedings of the second international conference on Autonomous agents
Coordinated multi-robot exploration

IEEE Transactions on Robotics

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Abstract

This paper proposes an algorithm for an efficient navigation and building a precise map in multi-robot systems One of the fundamental problems in mobile robotics is an effective investigation of unknown environments The basis of navigation algorithm in this paper is Extented Wave Algorithm, which is in our point of view, appropriate in getting accurate.Secondly, particle filter, which proved its reliability, was considered as localization algorithm Finally, overlapping algorithm is responsible for mapping The technique has been tested extensively in simulation runs The results given in this paper demonstrate that our algorithm significantly reduces the exploration time compared to previous approaches.