Learned Action SLAM: Sharing SLAM through learned path planning information between heterogeneous robotic platforms
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- 作者：Henry Williams ; Henry.Williams@ecs.vuw.ac.nz ; Will N. Browne ; Dale A. Carnegie
- 关键词：Cognitive robotics ; Learning Classifier Systems ; Simultaneous localisation and mapping ; Navigation
- 刊名：Applied Soft Computing
- 出版年：2017
- 出版时间：January 2017
- 年：2017
- 卷：50
- 期：Complete
- 页码：313-326
- 全文大小：2651 K
- 卷排序：50
文摘
Currently when path planning is used in SLAM it is to benefit SLAM only, with no mutual benefit for path planning. Furthermore, SLAM algorithms are generally implemented and modified for individual heterogeneous robotic platforms without autonomous means of sharing navigation information. This limits the ability for robot platforms to share navigation information and can require heterogeneous robot platforms to generate individual maps within the same environment. This paper introduces Learned Action SLAM, which for the first time autonomously combines path-planning with SLAM such that heterogeneous robots can share learnt knowledge through Learning Classifier Systems (LCS). This is in contrast to Active SLAM, where path-planning is used to benefit SLAM only. Results from testing LA-SLAM on robots in the real world have shown; promise for use on teams of robots with various sensor morphologies, implications for scaling to associated domains, and ability to share maps taken from less capable to more advanced robots.