Accurate map merging with virtual emphasis for multi‐robot systems

Abstract

A new grid map‐merging technique which consists of virtual emphasis by one‐way observation, curvature‐based map matching and particle swarm optimisation is proposed. The proposed technique can improve not only the accuracy of map merging, but also the flexibility of multi‐robot systems. The improved performance is verified by showing higher similarities than the existing map‐merging techniques in experiments.