SLAM and map merging
- Ángel León García
- Rafael Barea Navarro
- Luis Miguel Bergasa Pascual
- Elena López Guillén
- Ocaña Miguel, Manuel
- David Schleicher Gómez
ISSN: 1888-0258
Año de publicación: 2009
Volumen: 3
Número: 1
Páginas: 13-23
Tipo: Artículo
Otras publicaciones en: JoPha: Journal of Physical Agents
Resumen
This paper presents a multi-robot mapping and localization system. Learning maps and efficient exploration of an unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping problem). Our approach involves a team of mobile robots that uses Scan-Matching and Fast-SLAM techniques based on scan-laser and odometry information for mapping large environments. The single maps generated for each robot are more accurate than the maps generated only by odometry. When a robot detects another, it sends its processed map and the master robot generates a very accurate global map. This method cuts down the global map building time. Some experimental results and conclusions are presented.