Full text
| |
| Author(s): |
Janderson Rodrigo de Oliveira
Total Authors: 1
|
| Document type: | Doctoral Thesis |
| Press: | São Carlos. |
| Institution: | Universidade de São Paulo (USP). Instituto de Ciências Matemáticas e de Computação (ICMC/SB) |
| Defense date: | 2014-03-31 |
| Examining board members: |
Roseli Aparecida Francelin Romero;
Glauco Augusto de Paula Caurin;
Mauricio Fernandes Figueiredo;
Ivan Nunes da Silva;
Denis Fernando Wolf
|
| Advisor: | Roseli Aparecida Francelin Romero |
| Abstract | |
The multiple robot map building strategies have several advantages when compared to strategies based on a single robot, in terms of flexibility, gain of information and reduction of map building time. In this work, a local map integration method is proposed based on the inter-robot observations, considering a recent approach for the environment exploration. This approach is based on the Inverse Ant System-Based Surveillance System strategy, called IASSS. The IAS-SS strategy is inspired on biological mechanisms that define the social organization of swarm systems. Specifically, it is based on a modified version of the known ant colony algorithm. The main contribution of this work is the fit of an information sharing model used in an mobile sensor network, adapting the method for mapping tasks. Another important contribution is the collaboration between the local map integration method and the multiple robot coordination strategy based on ant colony theory. Through this collaboration it is possible to develop an approach that uses a mechanism for controlling the access to pheromones in real environments. Such mechanism is based on the integrated virtual pheromones concept. Simulation results show that the map integration method is efficient, the trials are performed considering a variable number of robots and environments with different structures. Results obtained from several experiments confirm that the integration process is effective and suitable to execute mapping during the exploration task (AU) | |
| FAPESP's process: | 10/07955-8 - EXPLORATION OF MAPPING TECHNIQUES IN INDOOR ENVIRONMENTS USING MULTIPLE ROBOTS |
| Grantee: | Janderson Rodrigo de Oliveira |
| Support Opportunities: | Scholarships in Brazil - Doctorate |