Homogenous multi-robot system for mapping of unknown environment

Aim of this article is to design and to implement autonomous multi-agent system, which is used for effective mapping of unknown environment. Proposed system is compared with single mapping robot. Robots used only simple systems such as odometry and gyro-odometry for their localization. Obstacles are...

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Bibliographic Details
Published in2016 IEEE 14th International Symposium on Applied Machine Intelligence and Informatics (SAMI) pp. 17 - 22
Main Authors Duchon, Frantisek, Vondracek, Martin, Dekan, Martin, Babinec, Andrej, Spielmann, Robert, Szabova, Martina, Mikulova, Zuzana, Beno, Peter, Dubravsky, Jozef
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.01.2016
Subjects
Collision avoidance
Multi-robot systems
Robot kinematics
Robot sensing systems
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Summary:Aim of this article is to design and to implement autonomous multi-agent system, which is used for effective mapping of unknown environment. Proposed system is compared with single mapping robot. Robots used only simple systems such as odometry and gyro-odometry for their localization. Obstacles are detected by bumpers and IR sensors. System is controlled by superior server and each agent communicates with server by TCP/IP protocol. Activity of each agent is coordinated by server and the generated map is stored in MySQL database. Navigation of each agent is implemented in two levels - local level (obstacle avoidance) and global level (environment examination). System was verified with real robots - several iRobot Create platforms enhanced by own modules. At the end of article, the results prove that even a simple system can be effectively used for environment mapping with relatively good accuracy.
DOI:10.1109/SAMI.2016.7422975