| 引用本文: | 马昕,宋锐,郭睿,李贻斌.基于免疫自适应遗传算法的机器人栅格地图融合[J].控制理论与应用,2009,26(9):1004~1008.[点击复制] |
| MA Xin,Song Rui,GUO Rui,LI Yi-bin.Immune adaptive genetic algorithm for occupancy grid maps merging[J].Control Theory and Technology,2009,26(9):1004~1008.[点击复制] |
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| 基于免疫自适应遗传算法的机器人栅格地图融合 |
| Immune adaptive genetic algorithm for occupancy grid maps merging |
| 摘要点击 2365 全文点击 1353 投稿时间：2008-05-06 修订日期：2008-12-04 |
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| DOI编号 10.7641/j.issn.1000-8152.2009.9.CCTA080419 |
| 2009,26(9):1004-1008 |
| 中文关键词 移动机器人 地图融合 免疫自适应遗传算法 栅格地图 |
| 英文关键词 mobile robot map merging immune adaptive genetic algorithm occupancy grid map |
| 基金项目 国家自然科学基金资助项目(60675044); 中国博士后科学基金资助项目(20060400649); 山东省科技发展计划资助项目(2006GG3204018); 山东省优秀中青年科学家科研奖励基金资助项目(2007BS01008); 山东省自然科学基金资助项目Y2008G21). |
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| 中文摘要 |
| 融合各机器人独自创建的环境地图,实现信息共享,是提高分布式多移动机器人系统环境探索效率的关键. 研究了在没有公共参考坐标系及机器人相对位置信息未知情况下的栅格地图融合问题, 提出了一种基于免疫自适应遗传算法的栅格地图融合方法,该算法把反映两个栅格地图重叠区域相异程度的优化函数作为抗原,每个可能的平移、旋转平面转换对应一个抗体. 仿真结果表明了该算法可以较快的收敛速度和较强的全局搜索能力,搜索到两个栅格地图的最佳重叠区域,实现地图融合. |
| 英文摘要 |
| One key problem for distributed multi-robot exploration system is how to fuse the partial maps acquired by independent robots into a global map to share environmental information among them. A new immune adaptive genetic algorithm is presented for searching the overlapping regions between two partial occupancy grid maps without common reference frame and any knowledge about robots’ relative positions. The algorithm takes the optimization function which measures the dissimilarity of the overlapping regions of the two partial maps as the antigen, and takes every possible planar transformation as the antibody. Simulation results show that this algorithm can search the global optimal overlapping regions with a high convergence speed. |