Cooperative map building of multi-robot based on grey fusion

This paper focuses on an uncertainty variational environment to build a cooperative map of distributed multi-robot system. A sensor information express method with grey number is introduced, and a sub grid map building of single robot is introduced too. There is a precondition that the autonomous mobile robot have localized by its cyber-vision. Based on grey system theory, a grey fusion method of multi sub-map is designed to gain whole grid map which describes whole environment via communication cooperation among multi-robot. Furthermore, a method is proposed which avoids the sonar interfere among robots. Map building experiments are performed finally on simulation platforms of autonomous robot soccer system. It´s shown that the whole cooperative map building method is effective, efficient robust.