{"title":"Multi-robot Cooperative Exploration Based on Geometric-topological Scene Map","authors":"Yanqing Wang, Yongquan Li, Wenjun Lu","doi":"10.1109/ICCST53801.2021.00015","DOIUrl":null,"url":null,"abstract":"In view of the advantages and disadvantages of node geometry information and characteristic scene information, this paper proposes multi-robot cooperative exploration based on geometric-topological scene map. Our algorithm adds the geometric information of nodes to the feature scene map, so as to detect and recognize the node loop. Considering the spatial relationship between a single node and different nodes, we use the Hidden Markov Model (HMM) to locate nodes accurately, and use the geometrical-topological feature scene matching method to perform map fusion. The local map fusion of each robot is turned into a problem of geometrical-characteristic scene matching. Finally, the multitask assignment method of market method is used to realize the multi-robot cooperative exploration task on the simulation platform.","PeriodicalId":222463,"journal":{"name":"2021 International Conference on Culture-oriented Science & Technology (ICCST)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 International Conference on Culture-oriented Science & Technology (ICCST)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCST53801.2021.00015","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In view of the advantages and disadvantages of node geometry information and characteristic scene information, this paper proposes multi-robot cooperative exploration based on geometric-topological scene map. Our algorithm adds the geometric information of nodes to the feature scene map, so as to detect and recognize the node loop. Considering the spatial relationship between a single node and different nodes, we use the Hidden Markov Model (HMM) to locate nodes accurately, and use the geometrical-topological feature scene matching method to perform map fusion. The local map fusion of each robot is turned into a problem of geometrical-characteristic scene matching. Finally, the multitask assignment method of market method is used to realize the multi-robot cooperative exploration task on the simulation platform.