An Efficient Method of Multi-robots Topological Map Building
Na Wang, Haiyan Wang, Jixin Liu, Yi Feng Zheng · 2018
In order to accomplish task, map building is the key technology in mobile robotic control in unknown environment.In this paper, a mathematical model of map integration is established to solve multi-robot topological map integration problem.A new method which was a combination of the classical ICP (Iterative Closest Point) algorithm and the singular value decomposition (SVD) algorithm was used.The simulation results showed that the ICP-SVD image registration algorithm applied to the topology map fusion made the algorithm implementation become more simple.What more, the model also reduced time consuming, and the matching results were better.