基于协助校正方法的多机器人主动同时定位与建图

协作策略是多机器人主动同时定位与建图(SLAM)的关键。文中提出一种多机器人相互校正的协作策略， 称为协助校正。 该方法通过优化机器人对陆标的观测来提高定位与建图的精度， 共包括弱协助校正和强协助校正两种模式。 前者是一种间接的协助模式， 可应用于所有机器人自身定位均不准确的情形。 后者是一种直接的协助模式， 由自身定位精度较高的机器人主动校正其它机器人及相应陆标。 文中将这两种协助校正模式利用状态机统一到多机器人主动SLAM应用中。在仿真实验中将协助校正与其它多机器人主动SLAM方法进行对比以验证其精度优势， 并与单机器人主动SLAM对比以验证其导航代价极低的优势。最后在两台Poineer3-DX移动机器人上进行真实环境实验，实验结果证实协助校正方法可在实际应用中有效提高多机器人主动SLAM的探索效率和精度。

Multi-Robot Active Simultaneous Localization and Mapping Based on Cooperative Correction Approach

Cooperation strategy is the key point in multi-robot active simultaneous localization and mapping ( SLAM) . A cooperation strategy based on correcting each other,called cooperative correction,is proposed. The approach is applied to multi-robot active SLAM by state machine. The cooperative correction approach improves the accuracy of localization and mapping by optimizing the observations of landmarks in two modes: weak cooperative correction and strong cooperative correction. The former is anindirect mode,which is used when all the robots are in low accuracy. The latter is a direct mode,under which the robot with high accuracy will actively correct other robot and related landmarks. Compared the proposed approach with other multi-robot active SLAM approachs,the simulation results validate the advantage of high accuracy,and compared with single robot active SLAM,the simulation results validate the advantage of low navigation cost. Finally,the experimental result in real environment with two Pioneer3-DX mobile robots validates that the cooperative correction approach effectively improves the efficiency and accuracy of multi-robot active SLAM.