基于实时栅格法的多机器人协作建图  

Multi-robot Collaboration Mapping Based on Real-Time Grid Method

作　　者：王曙光[1] 唐浩漾[1] 

机构地区：[1]西安邮电大学自动化学院,陕西西安710121

出　　处：《机床与液压》2014年第3期24-26,共3页Machine Tool & Hydraulics

基　　金：陕西省自然科学基金资助项目(2011JM8003);陕西省教育厅专项科研计划项目(12JK0540)

摘　　要：针对多机器人协作建立空间地图的问题,提出一种实时栅格法,通过控制机器人的编队,在探索环境的过程中,实时生成栅格地图,并标示出障碍的位置。机器人之间采用定向红外测距和无线通信技术保持多机器人的编队形态,同时划分栅格区域。用领导-跟随法和VHF+避障法控制编队绕过障碍。论证了该方法的基本原理及可行性,在InnoSTAR机器人平台上验证了该方法的有效性。该方法计算简单,占用存储空间小,可以使用简单廉价的传感器在小型机器人上实现,但必须要精确控制机器人编队的相对位置。Aiming at the problem of multi-robot collaboration mapping,a real-time grid method was proposed. Grid map was cre-ated during exploration through controlling robot formations,and the obstacle was located. Using wireless communication and direction-al infrared ranging technology,the fleet formation was maintained,grid area was divided at the same time. Adapting leader-following method and VHF＋ obstacle avoidance method,the formation was controlled to round obstacle. The principle and feasibility of the method were demonstrated. The effectiveness of the method was verified with InnoSTAR robot. This method has simple calculation,and it occupies less storage space,can be realized on small robot with simple sensors,but the relative position of the robot fleet must be controlled.

关 键 词：实时栅格法 多机器人 建图 编队 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]