DocumentCode :
3645097
Title :
Environment exploration with multiple vehicles and FastSLAM technique
Author :
Adão de Melo Neto;Paulo Fernando Ferreira Rosa;Thiago Eustaquio Alves de Oliveira;Paulo César Pellanda
Author_Institution :
Defense Engineering Graduate Program, Military Institute of Engineering, Rio de Janeiro, Brazil
fYear :
2011
Firstpage :
122
Lastpage :
128
Abstract :
In this work we investigate the exploration of an environment with multiple vehicles using a strategy based on occupancy grids and a technique of simultaneous localization and mapping (SLAM). The exploration strategy uses concepts of costs and utility from frontier cells. Besides, the used SLAM method is based on a FastSLAM algorithm with landmarks extracted from visual sensors and a common map of characteristics. Both activities are coordinated by a central agent. The results obtained by simulation show that when two vehicles can communicate with a central agent building a common map of characteristics, the exploration task becomes more efficient than that performed with only one vehicle. This occurs because the exploration time is reduced while the accuracy of vehicle position and orientation is maintained or even improved with the same number of particles.
Keywords :
"Vehicles","Simultaneous localization and mapping","Accuracy","Estimation","Probability distribution"
Publisher :
ieee
Conference_Titel :
IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society
ISSN :
1553-572X
Print_ISBN :
978-1-61284-969-0
Type :
conf
DOI :
10.1109/IECON.2011.6119299
Filename :
6119299
Link To Document :
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