Abstract:

One of the main issues for researchers in the field of mobile robots is the SLAM in the environment of GPS-denied. There are many solutions for single robot SLAM, however, when it is transferred to multi-robot platforms, there are a lot of new challenges to the existing problems. The most advanced multi-robot system is introduced in this paper, and the problem of multi-robot SLAM is studied. The different problems encountered in the research of multi-robot SLAM are introduced, and the solutions to these problems are discussed. In this paper, the research status of extended kalman filter(EKF)-SLAM, extended information filtering(EIF)-SLAM, particle filter(PF)-SLAM, graphSLAM and map fusion and other back-end optimization algorithms is discussed, the advantages and disadvantages of the algorithm are analyzed, and the possible direction of improvement is put forward.