期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2007
卷号：4
期号：3
DOI：10.5772/5682
语种：English
出版社：SAGE Publications
摘要：Efficient exploration of unknown environments is a fundamental problem in mobile robotics. We propose a novel topological map whose nodes are represented with the range finder's free beams together with the visual scale-invariant features. The topological map enables teams of robots to efficiently explore environments from different, unknown locations without knowing their initial poses, relative poses and global poses in a certain world reference frame. The experiments of map merging and coordinated exploration demonstrate the proposed map is not only easy for merging, but also convenient for robust and efficient explorations in unknown environments.
关键词：Cooperative exploration; Topological map; map merging; Scale-invariant features
Loading...
