Cooperative Map Building of Multi-robot Based on Grey Fusion

摘要

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.