Homogenous multi-robot system for mapping of unknown environment
- Resource Type
- Conference
- Authors
- Duchon, Frantisek; Vondracek, Martin; Dekan, Martin; Babinec, Andrej; Spielmann, Robert; Szabova, Martina; Mikulova, Zuzana; Beno, Peter; Dubravsky, Jozef
- Source
- 2016 IEEE 14th International Symposium on Applied Machine Intelligence and Informatics (SAMI) Applied Machine Intelligence and Informatics (SAMI), 2016 IEEE 14th International Symposium on. :17-22 Jan, 2016
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Computing and Processing
Engineering Profession
Robotics and Control Systems
Servers
Robot sensing systems
Robot kinematics
Collision avoidance
Multi-robot systems
- Language
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.