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Journal of Robotics
Volume 2018 (2018), Article ID 4218324, 13 pages
https://doi.org/10.1155/2018/4218324
Research Article

Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments

1School of Control Science and Engineering, Shandong University, Jinan 250101, China
2School of Mechanical, Electrical and Information Engineering, Shandong University at Weihai, Weihai 264209, China

Correspondence should be addressed to Chengjin Zhang; nc.ude.uds@gnahzjc

Received 28 June 2017; Revised 29 November 2017; Accepted 19 December 2017; Published 1 February 2018

Academic Editor: Shahram Payandeh

Copyright © 2018 Hongling Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

The first application of utilizing unique information-fusion SLAM (IF-SLAM) methods is developed for mobile robots performing simultaneous localization and mapping (SLAM) adapting to search and rescue (SAR) environments in this paper. Several fusion approaches, parallel measurements filtering, exploration trajectories fusing, and combination sensors’ measurements and mobile robots’ trajectories, are proposed. The novel integration particle filter (IPF) and optimal improved EKF (IEKF) algorithms are derived for information-fusion systems to perform SLAM task in SAR scenarios. The information-fusion architecture consists of multirobots and multisensors (MAM); multiple robots mount on-board laser range finder (LRF) sensors, localization sonars, gyro odometry, Kinect-sensor, RGB-D camera, and other proprioceptive sensors. This information-fusion SLAM (IF-SLAM) is compared with conventional methods, which indicates that fusion trajectory is more consistent with estimated trajectories and real observation trajectories. The simulations and experiments of SLAM process are conducted in both cluttered indoor environment and outdoor collapsed unstructured scenario, and experimental results validate the effectiveness of the proposed information-fusion methods in improving SLAM performances adapting to SAR scenarios.