中圖分類號： TN95,；TP242 文獻(xiàn)標(biāo)識碼： A DOI：10.16157/j.issn.0258-7998.200535 中文引用格式： 陳超，張志昂,，丁麗君. 一種改進(jìn)粒子群優(yōu)化算法的多機器人地圖拼接方法[J].電子技術(shù)應(yīng)用，2020,，46(12)：139-143. 英文引用格式： Chen Chao,，Zhang Zhiang，Ding Lijun. An improved particle swarm optimization algorithm for multi robot map merging[J]. Application of Electronic Technique,，2020,，46(12)：139-143.
An improved particle swarm optimization algorithm for multi robot map merging
Chen Chao，Zhang Zhiang，Ding Lijun
School of Mechanical Engineering,，Jiangsu University of Science and Technology,，Zhenjiang 212000，China
Abstract： Multi robots create large-scale map together, the key of which is to splice multiple local grid maps when the relative position of robots is unknown. In this paper, the method of image feature matching and the improved particle swarm optimization algorithm are combined. Firstly, the feature points of the two grid maps to be spliced are extracted for matching, and the effective feature point pairs are screened. Then, the information of the feature point pairs is used as the input parameters of the improved particle swarm optimization algorithm to calculate the best conversion matrix from the source image to the destination image. Finally, the converted source image and destination image are stitched together by using the grid superposition rule. Through simulation experiments and data analysis, the stability and accuracy of the algorithm are proved.
Key words : multi-robot,；grid map merging,；feature matching；particle swarm optimization
