Approach to cooperative multi-robot map-building based on genetic algorithm
Baifan Chen · Jisuanji yingyong yanjiu · 2009
The typical multi-robot map-building approaches have high requirements for environments and robots'localization information,so they have certain limitation in practical applications.To solve this problem,this paper proposed a novel improved approach.The approach let all robots operate individually and then tried to merge the different local grid maps into a single global one.Without using any pose information of the robots,performed the process of map merging by measuring the similarity between grid maps.It used an improved genetic algorithm to effectively search the maximum overlap at which the local maps could be joint together.Experimental results show the feasibility and effectiveness of this approach.