Global Map Building Algorithm based on Limited Communication of Complex Disaster Response Robot System

다국어 초록 (Multilingual Abstract)

Complex disaster has disabled the ordinary communication system. For example, fire on LTE routers and their power supply interrupted communication. In our disaster react robot system, we suggested a portable and battery-powered Wi-Fi module dropped by reconnaissance robots. As a result, the communication speed was extremely limited. In this paper, we proposed a global map generation strategy to overcome this communication limit. Our key approach involved the conversion of heterogeneous local maps to 2D occupancy grid maps. The 2D map was treated as an image and image stitching algorithm was applied to build the global map. We made various local map scenarios and applied our global map building algorithms. In conclusion, our proposed strategy was verified with the real robot test.

참고문헌 (Reference)

1 Kuntze, H. B., "Situation Responsive Networking of Mobile Robots for Disaster Management" 1-8, 2014

2 Kuntze, H. B., "Seneka-Sensor Network with Mobile Robots for Disaster Management" 406-410, 2012

3 Hörner, J, "Map-Merging for Multi-Robot System"

4 Park, M. R., "Major Cases and Implications of Massive Complex Disasters" 18 (18): 19-27, 2016

5 Kim, D. Y., "Loop Closure Method for Global Localization under Complex Disaster Environment" 706-707, 2018

6 Andersone, I., "Heterogeneous Map Merging : State of the Art" 8 (8): 74-, 2019

7 Kim, D. Y., "Global Map Generation Strategy Using Existing Map in Complex Disaster Environment" 17-18, 2020

8 Jung, Y. H., "Global Localization Using Two-Dimensional Local Map Transmitted in Complex Disaster Environment" 356-357, 2019

9 Frey, K. M., "Efficient ConstellationBased Map-Merging for Semantic SLAM" 1302-1308, 2019

10 Lee, H. C., "A Survey of Map Merging Techniques for Cooperative-SLAM" 285-287, 2012

11 Oh, S., "A Study on the Disaster Response Scenarios Using Robot Technology" 520-523, 2017

12 Hahm, J., "A Study on Empirical Demonstration Scenario for Performance Evaluation of Disaster Response Robot System" 706-707, 2018