Robot grid sub-map amalgamation method based on immune self-adapted genetic algorithm

A genetic algorithm and map fusion technology, applied in the field of robot grid submap fusion based on immune adaptive genetic algorithm, which can solve the problems of reduced population diversity, ignoring location estimation, and falling into local optimum.

Inactive Publication Date: 2008-09-17
SHANDONG UNIV
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Problems solved by technology

The paper "Merging occupancy grid maps from multiple robots" published in "Proceedings of the IEEE" ("IEEE Proceedings") 94(7): 1384-1397 in 2006 does not consider the location It is estimated that if the cells of the grid map are free or occupied, they are represented by color, and the grid map is represented as a graph. The problem of map fusion is transformed into fixing one graph, and the other graph as a plane such as translation and rotation. Transform TR:(t x , t

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  • Robot grid sub-map amalgamation method based on immune self-adapted genetic algorithm
  • Robot grid sub-map amalgamation method based on immune self-adapted genetic algorithm
  • Robot grid sub-map amalgamation method based on immune self-adapted genetic algorithm

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[0060] 1 Basic concepts

[0061] The environmental grid map is represented by an n×m matrix m, and the (i, j), (1≤i≤n, 1≤j≤m) elements of the matrix represent the occupancy or idle state of the grid (i, j), A positive value indicates that the grid is free, a negative value indicates that the grid is occupied, and the absolute value of the value indicates the degree of confidence. 0 indicates that the state information of the corresponding grid is unknown.

[0062] Since the relative position information of the two robots is not known, it is impossible to directly fuse the two grid submaps. One grid submap is fixed, and the other grid submap tries various plane transformations such as translation and rotation to find the two grids. The best overlapping area of ​​the submap, according to the situation of the best overlapping area to fuse two raster submaps. Assuming that the grid map is two-dimensional, a certain point (x, y) in the grid map is represented by the vector [x y 1...

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Abstract

The invention provides a robot grid sub-map fusion method based on immune adaptive genetic algorithm. A matrix corresponding to two grid sub-maps is regarded as an antigen. An antibody is plane transformation made by a second grid sub-map. An antibody colony generates a next antibody in operations of copying, crossing and mutation operator basing on affinity degree of the antigen and the antibody. A selection probability calculated according to similar vector distance guarantees multiformity of the antibody. On the base of an immune principle, a crossover probability and a mutation probability are adaptively adjusted according to sufficiency of the antibody to reduce a probability of local optimum. The invention has a high searching efficiency and can effectively search the best plane transformation randomly distributed in a searching space. The invention is especially fit for a multiple mobile robot grid sub-map fusion problem in complex environment. And the invention can realize information sharing among robots as soon as possible and effectively realize coordinating exploration among robots, and improve exploration efficiency.

Description

technical field [0001] The invention relates to a fusion method for each robot in a multi-mobile robot system to independently create a grid sub-map of a local environment. Background technique [0002] The prerequisite for a mobile robot to complete various intelligent tasks autonomously in an unknown environment is that the robot can continuously explore, perceive the environment and gradually create an environmental map autonomously. Multi-robot systems can accomplish complex tasks that a single robot cannot, such as search and rescue in hazardous areas, poisonous material handling, and military applications. [0003] The distributed system structure can give full play to the robustness of the multi-robot system. Each robot independently creates a sub-map of the local environment by fusing the perception information obtained by its own sensors. When appropriate, the robot fuses the sub-maps of the local environment created by other robots to realize Information sharing i...

Claims

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Application Information

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IPC IPC(8): G06N3/12G09B29/00B25J9/16
Inventor 马昕郭睿李贻斌荣学文宋锐
Owner SHANDONG UNIV
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