Position Correction based on Knowledge Sharing with Dependability in Multi-Robot Exploration

摘要

Multi robot exploration is received much attention in various fields. Some research works of multi-robot exploration have studied. The use of multiple robots leads to be flexible, persistent, and efficient in comparison with single robot system. The explored information by a robot is different from that of other robots due to the position error, sensor error, and so on., then it is important to consider these error when the explored information shares among robots. Especially, the position error has an great influence on the explored information. This paper deals with a novel dependability for robots in consideration of the position error and a sharing method based on the dependability. However, the explored knowledge of the robot with low dependability is not used effectively in the sharing method. Therefore, this paper also proposes a position correction method in order to use the knowledge with low dependability. For showing the effectiveness of the proposed position correction method, some numerical simulations with four mobile robots are executed.