A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach

Durdu, Akif; KORKMAZ, MEHMET

doi:10.3906/elk-1807-335

A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach

Akif DURDU, (Konya Teknik Üniversitesi)

Mehmet KORKMAZ (The Ohio State University)

Turkish Journal of Electrical Engineering and Computer Sciences

7 0

Yıl: 2019 Cilt: 27 Sayı: 5 Sayfa Aralığı: 3980 - 3993 Metin Dili: İngilizce DOI: 10.3906/elk-1807-335 İndeks Tarihi: 20-05-2020

A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach

Öz:

Map merging is a noteworthy phenomenon for cases such as search and rescue and disaster areas in whichthe duration is quite significant when gathering information about an environment. It is obvious that the total mappingtime decreases if the number of agents (robots) increases. However, the use of multiple agents leads to problems suchas task allocation schemes and the fusing of local maps. Examining the present methods, it is generally observed thatthe common features of local maps have been found and the global map is formed by obtaining related transformationbetween local maps. However, such implementations may be risky when local maps have symmetrical areas. Hence, anovel and semantic approach has been developed to solve this problem. The developed method counts on the reliabilitylevel of feature points. If relevant feature points are trusted, local maps are merged according to the best point orpoints. The simulation results from a robot operating system and a real-time experiment support the proposed method’sefficiency, and mapping can be performed even for environments that have symmetrical similar parts and the task timecan thus be reduced.

Anahtar Kelime:

Konular: Mühendislik, Elektrik ve Elektronik Bilgisayar Bilimleri, Yazılım Mühendisliği Bilgisayar Bilimleri, Sibernitik Bilgisayar Bilimleri, Bilgi Sistemleri Bilgisayar Bilimleri, Donanım ve Mimari Bilgisayar Bilimleri, Teori ve Metotlar Bilgisayar Bilimleri, Yapay Zeka

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık

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APA	Durdu A, KORKMAZ M (2019). A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. , 3980 - 3993. 10.3906/elk-1807-335
Chicago	Durdu Akif,KORKMAZ MEHMET A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. (2019): 3980 - 3993. 10.3906/elk-1807-335
MLA	Durdu Akif,KORKMAZ MEHMET A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. , 2019, ss.3980 - 3993. 10.3906/elk-1807-335
AMA	Durdu A,KORKMAZ M A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. . 2019; 3980 - 3993. 10.3906/elk-1807-335
Vancouver	Durdu A,KORKMAZ M A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. . 2019; 3980 - 3993. 10.3906/elk-1807-335
IEEE	Durdu A,KORKMAZ M "A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach." , ss.3980 - 3993, 2019. 10.3906/elk-1807-335
ISNAD	Durdu, Akif - KORKMAZ, MEHMET. "A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach". (2019), 3980-3993. https://doi.org/10.3906/elk-1807-335

APA	Durdu A, KORKMAZ M (2019). A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. Turkish Journal of Electrical Engineering and Computer Sciences, 27(5), 3980 - 3993. 10.3906/elk-1807-335
Chicago	Durdu Akif,KORKMAZ MEHMET A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. Turkish Journal of Electrical Engineering and Computer Sciences 27, no.5 (2019): 3980 - 3993. 10.3906/elk-1807-335
MLA	Durdu Akif,KORKMAZ MEHMET A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. Turkish Journal of Electrical Engineering and Computer Sciences, vol.27, no.5, 2019, ss.3980 - 3993. 10.3906/elk-1807-335
AMA	Durdu A,KORKMAZ M A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. Turkish Journal of Electrical Engineering and Computer Sciences. 2019; 27(5): 3980 - 3993. 10.3906/elk-1807-335
Vancouver	Durdu A,KORKMAZ M A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach. Turkish Journal of Electrical Engineering and Computer Sciences. 2019; 27(5): 3980 - 3993. 10.3906/elk-1807-335
IEEE	Durdu A,KORKMAZ M "A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach." Turkish Journal of Electrical Engineering and Computer Sciences, 27, ss.3980 - 3993, 2019. 10.3906/elk-1807-335
ISNAD	Durdu, Akif - KORKMAZ, MEHMET. "A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach". Turkish Journal of Electrical Engineering and Computer Sciences 27/5 (2019), 3980-3993. https://doi.org/10.3906/elk-1807-335