期刊名称：IOP Conference Series: Earth and Environmental Science
印刷版ISSN：1755-1307
电子版ISSN：1755-1315
出版年度：2018
卷号：170
期号：4
页码：042167
DOI：10.1088/1755-1315/170/4/042167
语种：English
出版社：IOP Publishing
摘要：This paper describes an efficient method for multi-robot simultaneous localization and mapping (SLAM), which establishes a joint model of multi-robot pose graphs based on several special inner and outer loop points called conjunction points. An optimization algorithm based on the fusion of pose graphs is proposed. The rapid fusion of multiple local sub graphs is realized by using the robot encounter information, thus solving the problem of indeterminate positional relationship of the robot and realizing the optimization of the global map.
