An improved active SLAM algorithm for multi-robot exploration

Viet Cuong Pham, Jyh Ching Juang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

For robot exploration that is subject to pose uncertainty, combining multi-robot cooperative exploration strategy and active simultaneous localization and mapping (SLAM) algorithm can efficiently explore the environment while building the map from the observed data. In the paper, the exploration is stated as a constrained optimization problem and a two-phase approach is proposed. In the first phase, robots with low pose uncertainties coordinate with one another to minimize the exploration time while taking into account the uncertainties of the robot poses. Whenever the pose uncertainty of a robot exceeds a pre-defined threshold, the robot switches to the second phase by revisiting previously seen landmarks or meeting other robots. During the exploration/SLAM process, robots switch between the two phases to minimize the exploration time while maintaining the accuracy of robot poses and map. An adaptive strategy is employed to automatically adjust the threshold of the robot pose uncertainty constraints in order to prevent the robots from oscillating between the two phases. To deal with the limited communication problem, rendezvous technique is utilized by allowing robots to temporarily move out of the communication range and rejoin the group later. Simulation results are provided to verify the proposed approach.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1660-1665
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11-09-1311-09-18

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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