DocumentCode :
2856198
Title :
Multi-robot Exploration Based on Market Approach and Immune Optimizing Strategy
Author :
Xiong, Guangming ; Gong, Jianwei ; Chen, Huiyan ; Su, Zhibao
Author_Institution :
Beijing Inst. of Technol., Beijing
fYear :
2007
fDate :
19-25 June 2007
Firstpage :
29
Lastpage :
29
Abstract :
A multi-robot system is used to explore an environment and create a map based on market approach. Data fusion is performed using Bayes theorem and then the local maps are updated. A diffusivity concept is defined to describe the robots´ extent apart from one another. The immune optimizing strategy is introduced to select goal points since it is a problem of optimized combination. In order to minimize repeated coverage and improve the exploration efficiency, the evaluation function considers the cost, revenue and diffusivity. Simulation examples show that the proposed method is effective for the stated problem and the immune optimizing strategy is more efficient than other strategies.
Keywords :
Bayes methods; multi-robot systems; optimisation; sensor fusion; Bayes theory; data fusion; immune optimizing strategy; multirobot exploration; Cost function; Fault tolerance; Intelligent vehicles; Multirobot systems; Optimization methods; Parallel robots; Robot kinematics; Robot sensing systems; Sensor systems; Uncertainty; autonomous system; creating map; exploring environment; immune optimizing; market approach; multi-robot system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Autonomic and Autonomous Systems, 2007. ICAS07. Third International Conference on
Conference_Location :
Athens
Print_ISBN :
978-0-7695-2859-7
Electronic_ISBN :
978-0-7695-2859-7
Type :
conf
DOI :
10.1109/CONIELECOMP.2007.86
Filename :
4437906
Link To Document :
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