A novel multirobot map fusion strategy for occupancy grid maps

Sebahattin TOPAL; İsmet ERKMEN; Aydan Müşerref ERKMEN

Makale detayları

A novel multirobot map fusion strategy for occupancy grid maps

Yazarlar:

Sebahattin TOPAL | İsmet ERKMEN | Aydan Müşerref ERKMEN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 1, pp.107-119

Belge Tipi:

Makale

Yayın Tarihi:

12/2012

Belge Dili:

Türkçe

Document ID (Org No.):

2000743383

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

In this paper, we consider the problem of merging partial  occupancy grid environment maps, which are extracted independently by  individual robot units during search and rescue (SAR) operations in  icomplex disaster environments.  Moreover, these maps are combined  using intensity-based and area-based features without knowing the  initial position and orientation of the robots.  Our proposed approach  handles the limitation of existing studies in the literature; for  example, the limited overlapped area between partial maps of robots is  enough for good merging performance and unstructured and complex  partial environment maps can be merged efficiently.  These abilities  allow multirobot teams to efficiently generate the occupancy grid map  of catastrophe areas and localize buried victims in the debris as soon  as possible.  The simulation results support the potential of the  proposed multirobot map fusion methodology for SAR operations in  unstructured, complex, and completely unknown disaster environments.

 

In this paper, we consider the problem of merging partial  occupancy grid environment maps, which are extracted independently by  individual robot units during search and rescue (SAR) operations in  icomplex disaster environments.  Moreover, these maps are combined  using intensity-based and area-based features without knowing the  initial position and orientation of the robots.  Our proposed approach  handles the limitation of existing studies in the literature; for  example, the limited overlapped area between partial maps of robots is  enough for good merging performance and unstructured and complex  partial environment maps can be merged efficiently.  These abilities  allow multirobot teams to efficiently generate the occupancy grid map  of catastrophe areas and localize buried victims in the debris as soon  as possible.  The simulation results support the potential of the  proposed multirobot map fusion methodology for SAR operations in  unstructured, complex, and completely unknown disaster environments.

Makale detayları

A novel multirobot map fusion strategy for occupancy grid maps

Yazarlar: Sebahattin TOPAL | İsmet ERKMEN | Aydan Müşerref ERKMEN

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 1, pp.107-119

Belge Tipi: Makale

Yayın Tarihi: 12/2012

Belge Dili: Türkçe

Document ID (Org No.): 2000743383

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Sebahattin TOPAL | İsmet ERKMEN | Aydan Müşerref ERKMEN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 1, pp.107-119

Belge Tipi:

Makale

Yayın Tarihi:

12/2012

Belge Dili:

Türkçe

Document ID (Org No.):

2000743383

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632