多机器人对未知环境进行实时在线探测的一种方法

A Real-time On-line Method for Exploring Unknown Environment with Multiple Robots

将多机器人协作引入了构建地图的作业任务研究中,将多个范围传感器所探测到的环境信息以概率值的方式表示,利用不确定性证据推理的原理对其进行了Dempster-shafer数据融合。在协作的基础上,设计了避障策略。系统仿真实验,验证了该方法的可行性。

In this paper multi-robot system is introduced in map-building task. The environment information from multiple range sensors is represented in the form of probability, and is fused using evidential reasoning with uncertainty based on Dempster-Shafer theory. Strategy to avoid obstacles is designed based on cooperation, and simulation experiments proved the plausibility of the method.