Online map building evolutionary algorithm for multi-agent mobile robots with odometric uncertainty

Author

Kim, Yong-Jae ; Kim, Jong-Hwan

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea

Volume

1

fYear

2000

fDate

2000

Firstpage

133

Abstract

An online map building evolutionary algorithm is proposed using multi-agent mobile robots with odometric uncertainty. The control algorithm for map building in each robot is identical and trained by an online evolutionary algorithm (EA). Each robot has configuration uncertainty which increases as it moves, and it perceives the surrounding environment information by the limited range sensors. It communicates with other robots and shares the information. The elementary behaviors are defined and they are used to build a map. EA is applied to the defined behavior set for optimizing the robot actions. To demonstrate the effectiveness of the proposed algorithm, computer simulations are conducted for various environments

Keywords

digital simulation; evolutionary computation; mobile robots; multi-agent systems; sensors; uncertainty handling; computer simulation; configuration uncertainty; control algorithm; evolutionary algorithm; multi-agent mobile robots; odometric uncertainty; online map building; range sensors; robot action optimization; Buildings; Cleaning; Computer simulation; Dead reckoning; Evolutionary computation; Mobile robots; Robot sensing systems; Sensor phenomena and characterization; Ultrasonic imaging; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Evolutionary Computation, 2000. Proceedings of the 2000 Congress on

Conference_Location

La Jolla, CA

Print_ISBN

0-7803-6375-2

Type

conf

DOI

10.1109/CEC.2000.870286

Filename

870286