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Yiqing H, Hui W, Lisheng W, Wengen G, Yuan G. A novel edge gradient algorithm for multiple mobile robots cooperative mapping in unknown environment. INT J ADV ROBOT SYST 2019. [DOI: 10.1177/1729881419860380] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022] Open
Abstract
This article presented a cooperative mapping technique using a novel edge gradient algorithm for multiple mobile robots. The proposed edge gradient algorithm can be divided into four behaviors such as adjusting the movement direction, evaluating the safety of motion behavior, following behavior, and obstacle information exchange, which can effectively prevent multiple mobile robots falling into concave obstacle areas. Meanwhile, a visual field factor is constructed based on biological principles so that the mobile robots can have a larger field of view when moving away from obstacles. Also, the visual field factor will be narrowed due to the obstruction of the obstacle when approaching an obstacle and the obtained map-building data are more accurate. Finally, three sets of simulation and experimental results demonstrate the performance superiority of the presented algorithm.
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Affiliation(s)
- Huang Yiqing
- College of Electrical Engineering, Anhui Polytechnic University, Wuhu, People’s republic of China
- Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui, Wuhu, People’s republic of China
| | - Wang Hui
- College of Electrical Engineering, Anhui Polytechnic University, Wuhu, People’s republic of China
- Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui, Wuhu, People’s republic of China
| | - Wei Lisheng
- College of Electrical Engineering, Anhui Polytechnic University, Wuhu, People’s republic of China
- Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui, Wuhu, People’s republic of China
| | - Gao Wengen
- College of Electrical Engineering, Anhui Polytechnic University, Wuhu, People’s republic of China
- Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui, Wuhu, People’s republic of China
| | - Ge Yuan
- College of Electrical Engineering, Anhui Polytechnic University, Wuhu, People’s republic of China
- Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui, Wuhu, People’s republic of China
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Wei C, Wang R, Wu T, Fu H. Estimation of Initial Position Using Line Segment Matching in Maps. INT J ADV ROBOT SYST 2016. [DOI: 10.5772/64067] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
While navigating in a typical traffic scene, with a drastic drift or sudden jump in its Global Positioning System (GPS) position, the localization based on such an initial position is unable to extract precise overlapping data from the prior map in order to match the current data, thus rendering the localization as unfeasible. In this paper, we first propose a new method to estimate an initial position by matching the infrared reflectivity maps. The maps consist of a highly precise prior map, built with the offline simultaneous localization and mapping (SLAM) technique, and a smooth current map, built with the integral over velocities. Considering the attributes of the maps, we first propose to exploit the stable, rich line segments to match the lidar maps. To evaluate the consistency of the candidate line pairs in both maps, we propose to adopt the local appearance, pairwise geometric attribute and structural likelihood to construct an affinity graph, as well as employ a spectral algorithm to solve the graph efficiently. The initial position is obtained according to the relationship between the vehicle's current position and matched lines. Experiments on the campus with a GPS error of dozens of metres show that our algorithm can provide an accurate initial value with average longitudinal and lateral errors being 1.68m and 1.04m, respectively.
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Affiliation(s)
- Chongyang Wei
- College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China
| | - Ruili Wang
- School of Engineering and Advanced Technology, Massey University, Auckland, New Zealand
| | - Tao Wu
- College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China
| | - Hao Fu
- College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China
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Zhu X, Qiu C, Minor MA. Terrain-inclination-based Three-dimensional Localization for Mobile Robots in Outdoor Environments. J FIELD ROBOT 2014. [DOI: 10.1002/rob.21515] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
Affiliation(s)
- Xiaorui Zhu
- State Key Laboratory of Robotics and System (HIT); Harbin Institute of Technology Shenzhen Graduate School; Shenzhen Guangdong 518055 China
| | - Chunxin Qiu
- State Key Laboratory of Robotics and System (HIT); Harbin Institute of Technology Shenzhen Graduate School; Shenzhen Guangdong 518055 China
| | - Mark A. Minor
- Department of Mechanical Engineering; University of Utah; Salt Lake City Utah 84112
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