Research on map merging for multi-robotic system based on RTM

Multi-robotic system is widely used in exploring in large-scale unknown environment and performing the complex tasks. This paper presents a method of local map merging for Multi-robotic system using RTM as communication platform. We integrate Scale-Invariant Feature Transform (SIFT) feature matching information with iterative closest point (ICP) algorithm to realize the local map merging. We use the USARSim as simulation platform to realize topological map and map merging for the environment in which mobile robots moving using the proposed method. The paper details the architecture of the proposed method and gives some experiments to verify the effectiveness.

[1]  G LoweDavid,et al.  Distinctive Image Features from Scale-Invariant Keypoints , 2004 .

[2]  David G. Lowe,et al.  Distinctive Image Features from Scale-Invariant Keypoints , 2004, International Journal of Computer Vision.

[3]  Kurt Konolige,et al.  Map merging for distributed robot navigation , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[4]  Jing-Yu Yang,et al.  Online topological map building and qualitative localization in large-scale environment , 2010, Robotics Auton. Syst..

[5]  Shuzhi Sam Ge,et al.  A topological approach of path planning for autonomous robot navigation in dynamic environments , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Andreas Birk,et al.  On map merging , 2005, Robotics Auton. Syst..

[7]  Songmin Jia,et al.  Map building for mobile robot based on distributed control technology , 2011, 2011 IEEE International Conference on Information and Automation.

[8]  Shuzhi Sam Ge,et al.  Simultaneous Path Planning and Topological Mapping (SP2ATM) for environment exploration and goal oriented navigation , 2011, Robotics Auton. Syst..

[9]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[10]  Fabiana Soares Santana,et al.  Evaluation of an ICP Based Algorithm for Simultaneous Localization and Mapping Using a 3D Simulated P3DX Robot , 2010, 2010 Latin American Robotics Symposium and Intelligent Robotics Meeting.

[11]  Songmin Jia,et al.  Interactive robot system for supporting object acquisition based on Robot Technology Middleware , 2008, 2008 International Conference on Information and Automation.