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.
Highlights
Mapping, localization, and path planning are three major tasks in robotic navigation
The proposed algorithm with four different behaviors can effectively prevent multiple mobile robots falling into concave obstacle areas
The main contributions of the article are summarized as follows: (1) the proposed edge gradient algorithm can be divided into four behaviors, which can effectively prevent multiple mobile robots falling into concave obstacle areas; (2) comparing with the existing research results, in this article, a visual field factor is constructed based on biological principles, which make the obtained map-building data more accurately; and (3) simulation and experiment results in real environments verify the feasibility of the presented edge gradient as an online cooperative mapping approach for multiple mobile robots
Summary
Localization, and path planning are three major tasks in robotic navigation. Keywords Multiple mobile robots, cooperative mapping, visual field factor, edge gradient algorithm
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