International Journal of Precision Engineering and Manufacturing

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Effective Map Building Using a Wave Algorithm in a Multi-Robot System

  • Saitov, Dilshat (Department of Electrical Engineering, Yeungnam University) ;
  • Umirov, Ulugbek (School of Electrical Engineering and Computer Sciences, Yeungnam University) ;
  • Park, Jung-Il (School of Electrical Engineering and Computer Sciences, Yeungnam University) ;
  • Choi, Jung-Won (Department of Electronic Engineering, Kumoh National University) ;
  • Lee, Suk-Gyu (Department of Electrical Engineering, Yeungnam University)
  • Published : 2008.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

Robotics and artificial intelligence are components of IT that involve networks, electrical and electronic engineering, and wireless communication. We consider an algorithm for efficient navigation by building a precise map in a multi-robot system under conditions of limited and unlimited communications. The basis of the navigation algorithm described in this paper is a wave algorithm, which is effective in obtaining an accurate map. Each robot in a multi-robot system has its own task such as building a map for its local position. By combining their data into a shared map, the robots can actively seek to verify their relative locations. Using shared maps, they coordinate their exploration strategies to maximize exploration efficiency. To prove the efficiency of the proposed technique, we compared the final results with the results in $Burgard^{8}$ and $Stachniss.^{9-10}$ All of the simulation comparisons, which are shown as graphs, were made in four different environments.

Keywords

References

  1. Dissanayake, G., Newman, P., Clark, S., Durrant-Whyte, H. and Csorba, M., "BA solution to the simultaneous localization and map building (SLAM) problem," IEEE Transactions on Robotics and Automation, Vol. 17, No. 3, pp. 229-241, 2001 https://doi.org/10.1109/70.938381
  2. Ko, J., Stewart, B., Fox, D., Konolige, K. and Limketkai, B., "BA practical, decision-theoretic approach to multi-robot mapping and exploration," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3232-3238, 2003
  3. Pulford, G. W. and La Scala, B. F., "Map estimation of target maneuver sequence with expectation-maximization algorithm," IEEE Transactions on Aerospace and Electronic Systems, Vol. 38, No. 2, pp. 367-377, 2002 https://doi.org/10.1109/TAES.2002.1008972
  4. Williams, S., Dissanayake, G. and Durrant-Whyte, H., "Towards multi-vehicle simultaneous localization and mapping," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2743-2748, 2002
  5. Yamauchi, B., "Frontier-based exploration using multiple robots," in Proceedings of the Second International Conference on Autonomous Agents, pp. 47-53, 1998
  6. Birk, A. and Carpin, S., "Merging occupancy grid maps from multiple robots," IEEE Transactions on Robotics and Automation, Vol. 94, No. 7, pp. 1384-1397, 2006
  7. Roumeliotis, S. and Bekey, G., "Distributed multirobot localization," IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, pp. 781-795, 2002 https://doi.org/10.1109/TRA.2002.803461
  8. Burgard, W., Moors, M. and Schneider, F., "Collaborative exploration of unknown environments with teams of mobile robots," IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, pp. 781-795, 2002 https://doi.org/10.1109/TRA.2002.803461
  9. Stachniss, C., Mozos, O. M. and Burgard, W., "Speeding-up multi-robot exploration by considering semantic place information," IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, pp. 581-587, 2006
  10. Stachniss, C., Mozos, O. M. and Burgard, W., "Coordinated multi-robot exploration," IEEE Transactions on Robotics and Automation, Vol. 21, No. 3, pp. 376-386, 2005 https://doi.org/10.1109/TRO.2004.839232
  11. Saitov, D., Umirov, U., Lee, S. G. and Park, J. I., "Enhanced map building using wave algorithm in multi-robot systems," International Symposium on Mechatronics and Automatic Control Section (ISMA), pp. 116-122, 2007
  12. Sebastian, B.,Ulrich, W., Michael, B. and Thorsten, S., "Multi robot path planning for dynamic environments; a case study," International Conference on Intelligent Robots, pp. 1245-1250, 2001
  13. Peter, C., Ron, P. and Daniela, R., "Localization and Navigation Assisted by Networked Cooperating Sensors and Robots," International Journal of Robotics Research, Vol. 24, Issue 9, pp. 771-786, 2005 https://doi.org/10.1177/0278364905057118
  14. Raj, M., Kingsley, F. and Lynne, E. P., "Distributed cooperative outdoor multirobot localization and mapping," Autonomous Robots, Vol. 17, Issue 1, pp. 23-39, 2004 https://doi.org/10.1023/B:AURO.0000032936.24187.41
  15. Ioannis, R., Gregory, D. and Evangelos, M., "Multi-robot collaboration for robust exploration," Annals of Mathematics and Artificial Intelligence, Vol. 31, Issue 1-4, pp. 7-40, 2001 https://doi.org/10.1023/A:1016636024246
  16. Weihua, S., Qingyan, Y., Jingdong, T. and Ning, X., "Distributed multi-robot coordination in area exploration," Robotics and Autonomous Systems, Vol. 54, Issue 12, pp. 945-955, 2006 https://doi.org/10.1016/j.robot.2006.06.003