A Fast Map Merging Algorithm in the Field of Multirobot SLAM

Algorithm 2

Calculation process of 𝑑(𝑚₁,𝑚₂,𝑐).

Input:  the grid map 𝑚₁, 𝑚₂ and grid value 𝑐

Output:  𝑑(𝑚₁,𝑚₂,𝑐)

1 calculate the 𝑑𝑚𝑎𝑝_𝑐 of 𝑚₂ according to Algorithm 1;

2 𝑑(𝑚₁,𝑚₂,𝑐)=0;

3  for  𝑦=0  to  𝑛+1  do

4    for  𝑥=0  to  𝑛+1  do

5      if  𝑚₁(𝑥,𝑦)==𝑐  then

6     𝑑(𝑚₁,𝑚₂,𝑐)=𝑑(𝑚₁,𝑚₂,𝑐)+𝑑𝑚𝑎𝑝_𝑐[𝑥][𝑦];

7      end

8    end

9  end

10 return  𝑑(𝑚₁,𝑚₂,𝑐);