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Master-followed Multiple Robots Cooperation SLAM Adapted to Search and Rescue Environment

  • Hongling Wang
  • Chengjin Zhang
  • Yong Song
  • Bao Pang
Regular Papers Control Theory and Applications
  • 19 Downloads

Abstract

The master-followed multiple robots interactive cooperation simultaneous localization and mapping (SLAM) schemes were designed in this paper, which adapts to search and rescue (SAR) cluttered environments. In our multi-robots SLAM, the proposed algorithm estimates each of multiple robots’ current local sub-map, in this occasion, a particle represents each of moving multi-robots, and simultaneously, also represents the pose of a motion robot. The trajectory of the robot’s movement generated a local sub-map; the sub-maps can be looked on as the particles. Each robot efficiently forms a local sub-map; the global map integrates over these local sub-maps; identifying SAR objects of interest, in which, each of multi-robots acts as local-level features collector. Once the object of interest (OOI) is detected, the location in the global map could be determined by the SLAM. The designed multi-robot SLAM architecture consists of PC remote control center, a master robot, and multi-followed robots. Through mobileRobot platform, the master robot controls multi-robots team, the multiple robots exchange information with each other, and then performs SLAM tasks; the PC remote control center can monitor multi-robot SLAM process and provide directly control for multi-robots, which guarantee robots conducting safety in harsh SAR environments. This SLAM method has significantly improved the objects identification, area coverage rate and loop-closure, and the corresponding simulations and experiments validate the significant effects.

Keywords

Canny operator detection coverage area integrated DP filter algorithms loop-closure master-followed multiple robots SLAM 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Hongling Wang
    • 1
  • Chengjin Zhang
    • 1
    • 2
  • Yong Song
    • 2
  • Bao Pang
    • 1
  1. 1.School of Control Science and EngineeringShandong UniversityJinanChina
  2. 2.School of Mechanical, Electrical and Information EngineeringShandong University at WeihaiWeihaiChina

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